Research On Robotic Teleoperation System Based On Internet

The function of Internet-based master-slave telerobot is to establish teleoperation system with network as communication way, which can expand human's ability in carrying out tasks in dangerous environments such as in the sky,under the sea and in the radiating conditions et al. With the rapid development of virtual reality technique, this system will reach its ideal result, that is vision telepresence and tactile telepresence without time delay. This thesis studies force-sencing telepresence aiming at communication time delay. In order to overcome the influence of time delay, this thesis introduces virtual environment into teleoperation system and put forward several settlement measures aiming at transmission time delay.Contraposing the manipulator working in weight space, from the point of interactive mechanism between human and object in real world, mathematical model getting interactive force between virtual slave hand and objects in virtual environment. The model can be described by stiffness^ damp and friction of the object. Since damp of the object is considered in the model, the stability of the teleoperation system is increased.From the point of force control of manipulator and theory of intelligent cybernetics, a FNN force controller is designed, which includes fuzzy control and neurocontrol. The force controller with self-studying function can improve the fidelity of the force-reflecting teleoperation system. The subsequent simulation experiments validate the performance of the force controller.Many transmission experiments with several kinds of data are carried out at campus network. Referring to time data getting from WAN transmission experiments, some statistical regularity and characters of time delay are obtained. Those regularity and characters can provide guides in establishing teleoperation simulation system and make system model more accurate.With the tools of Visual C ++6.0 and OpenGL, simulation controller platform based on Internet is erected and teleoperation system based on virtual environment is established.The theoretic study work and simulation experiments of this paper tests the feasibility of the teleoperation system with telepresence based on Internet, andfounds the basement for the subsequent experiments and real teleoperation system.