Research On Robotic System In Virtual Environment Based On Network

The function of master-slave telerobot is to control the slave arm in distance by master arm to finish operation task. In the field of master-slave teleoperation, for the tasks that slave arm interact with environment, bilateral force-reflecting control is one key technique to realize flexible and effective teleoperation control. With the rapid development of virtual reality technique, virtual environment bilateral force- reflecting master-slave teleoperation technique has splendid applying future. However, all data transmissions between master and slave systems need certain channels, and the traditional information transmission media is cable. Apparently, the usage of cable has much limitation, especially in faraway places such as outer space. And recently Internet has been the most widely used and most convenient information transmission channel. What抯 more, its cost is much lower. This dissertation is to introduce the application of the Internet technique into the field of robot research. On the basis of consulting a lot of documents, this thesis put concentration on fundamental study, establish the force-reflecting scheme of the whole master-slave system whose problems about modeling and control are studied in depth, and verify its feasibility. In the case of simulation, the motion of JS 5 type robot arm is imitated. Taking the property guidelines of JS 5 robot as the model parameters of the virtual master hand, proper simplification is made during the simulation to get its motional and backward-motional equations, and the oriental cosines of the virtual master hand, are inducted. For the robots working in outer space, in order to realize safe operation, the interaction between objects in weightless space is studied. Contraposing the characteristic of interaction between objects in weightless space, elastic mechanics theory is introduced to establish mathematical model describing interactive force and moving status. Contraposing the slave arm working in weight space, from the point of interactive mechanism between human and object, mathematical model getting interactive force between the virtual slave hand and object is established. Damp of the object is considered in the model to increase stability of the system. In thus bilateral force-reflecting robot system where delay may exist, a two-phase control scheme of sporadic feedback and fuzzy control theory is adopted to compensate delay and to increase fidelity of reflection force at the same time. With thus control scheme, both speed and accuracy requirements are satisfied. When slave hand tip is far from environment object, sporadic feedback control is in effect; while slave hand approaches environment, self-studying fuzzy control is in effect. HI ~LI~眛t~z~ Personate force control with self-studying function is designed and reflecting force from the virtual model can be transmitted to master system. The simulation experiment system of master-slave teleoperation based on Internet data transmission. On the basis of master-slave system and control models established respectively, experiments on LAN are made; by analyzing experimental results, the validity of provided theory and model is checked. The whole software is programmed on Visual C++6.O platform based on Windows 95 operation system. The study work of this paper tests the feasibility of the provision of master-slave teleoperation robot system in virtual environment, whose data transp...