| The function of telerobot based on the Mobile Communication Network is to establish teleportation 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 water and in the radiating conditions etc. With the rapid development of the world Mobile Communication technique, the Internet-Link function of CDMA can be used to be the qualified media in teleoperation system.A bilateral control system with force feedback was designed and came true in this thesis. Our research was mainly concentrated on the teleoperation and force feedback including the control of the mobile robot, the design of an Ultra-sonic and Infrared Measuring System based on FPGA, and the realization of bilateral teleoperation with force feedback.We use a GT series motion control board to achieve our control of the mobile robot. PID+ Kvff+ Kaff filter is adapted to enhance the stability of robot's movement in flat surface.To achieve the bilateral teleoperation, we must make the robot able to detect its surroundings. In system hardware platform design, after comparing and analyzing several kinds of FPGA, we selected Xilinx' s SPARTAN II FPGA as the core chips of the FPGA hybrid architecture. Then, we designed an Ultra-sonic and Infrared Measuring System based on FPGA to measure the distance. The platform design included the function design and the key modules design and the PCB design. All information from the Ultrasonic sensors and the Infrared sensors will be analyzed to get the states of the surroundings that will also be the base of force feedback.In the end, according to the characteristics of our system, we obtain the teleoperation and force feedback with the technique of Directlnput .The article also pointed out what .to do in the future.
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