| Telepresence technology, which is born from teleoperation systems in the 1980's, is a new concept tightly related to the interaction technology. Force telepresence is one of the major forms of telepresence and has significance in fulfilling the remote control task. In this thesis, an experimental platform of a master-slave teleoperation robot system with force telepresence based on computer network is built up and control software on both master and slave sides is analyzed and implemented. Different operation modes of the telemanipulation robot system are discussed in detail and corresponding experiments are fulfilled on the platform.To begin with, the thesis summarizes the telepresence technology and its research development. Then the hardware structure and the software design of the master-slave teleoperation robot system are introduced. Robot kinematics is analyzed in order to solve the control problem of robots with different structures. Fourthly, protocols of network communication between master and slave robot systems and its program implementation are elaborated. After that, Virtual Reality modeling of slave robot as well as its environment is discussed, which can eliminate effects of time delay on the teleoperation robot system. Finally, various operation modes of the system are proposed, on the basis of which position trailing and force feedback of the slave robot and typical tasks such as grabbing, moving, laying and so on with time delay are experimented.
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