The Research Of Telerobotic System Based On Internet

With the enlargement and depth of the exploratory field of mankind, The necessity is getting strengthening constantly to carry out mankind's tasks in dangerous, ungetatable environment, so it is necessary to design the intelligent robot which can replace mankind to engage in the dangerous work. In recent years, with the network technology development at full speed and combination of traditional robotic control technology and advanced network communication technology, the teleoperation technology of robot based on Internet emerges and develops rapidly. The teleoperation technology of robot based on Internet integrates with the knowledge in a lot of fields, such as the network communication, picture compressing and transmitting, virtual reality, artificial intelligence, medical treatment, living beings, spaceflight etc. The international scholars of robotic circle pay close attention to it. At present, people concentrate mainly on the study on teleoperation technology of robot based on internet, it includes path planning algorithm, intelligent control strategy, network data communication, random network delay-time, etc. In this paper, A telerobotic system was constructed based on the technology of robot and internet to the focus of study on teleoperation technology of robot based on internet, which uses a SCARA teaching robot with four degree of freedom as the controlled unit, TCP/IP as the transmission/control protocol, and the system structure of Client/Server as the network communication platform. On the system platform, the data communication between Client server and Server-Robot server has been realized with Windows Socket, two-way, reliable data transmission has been realized between two pieces of communication process; we have done research of path planning with SCARA robot on the basis of CP path planning, we have developed the robotic path planning software with line interpolation, arc interpolation, space arc interpolation, and we have carried on the concrete tasks of convey and assemble; we have done a lot of experiments on network delay from different distance, different size of data package, different time with the test software based on ICMP and carried on statistical analysis to the data, and proposed the compensatory strategy with ICB system. Briefly, the key technology of teleoperation with random network delay is studied based on the telerobotic system based on internet. The results of experiments can basically illustrate the methods proposed, which is an important reference to further research in the future.