The Remote Control System Of 6-DOF Manipulator Based On Internet

With the development of Internet and network communication technique, the robot remote control system further expands the application range, and shows its superiority in the remote operation, telemedicine, distance education and remote monitoring, etc.This paper describes the domestic and overseas research status of remote control systems based on Internet, and the typical technical means of every study phase, then raises the research topic based on the above analysis.The general framework of the remote control system will be divided into three modules, which are communication protocols, robot control and visual feedback. Chapter III describes the network communication technology and presents the network communication technology for robot remote control system, the Winsock technology is used to construct remote control platform based on TCP/IP protocol and client-server mode. Chapter IV analyzes the kinematic of the six degrees of freedom (DOF) manipulator in this project, and the appropriate path planning algorithms is developed and optimized, then the control interface is designed and simulation system is established. Chapter V describes the Dual stereo vision technology for remote control system and simulation system, so that the operator will be more intuitive and more precise on the remote control.Finally, the system is evaluated and tested mainly in latency, stability and function of the system, the test results are given and analyzed through test cases, then discussed future research directions.