Researches On Teleoperation Of Internet Based Robots And Event Based Control Scheme

This thesis presents the researches of on teleoperation of Internet based robots and event based control scheme. There are not only some traditional difficulties: time delay problem, human-machine interaction, local autonomous, etc, but also appear some new significant challenges of Internet based telerobotic systems. The especial mechanism of signal transmission over Internet induces some problems, for instance, time-varying communication delay, dropout and synchronization.Firstly, this paper presents some primary problems and related control schemes for Internet based telerobotic systems, for example, supervisory control, predictive display control, event based control and passive control, and so on. The Internet-induced problems such as packet dropout and asynchrony can all be regarded as problems induced by the communication delays. Hence, how to deal with the stability issue incurred by the time-varying communication delays is the key problem in the control of the Internet based telerobotic systems.Secondly, to introduce the software and the hardware related of the experiments, especially, the versatile intelligent mobile robotic platform and an arm with 5DOF. The software consists of ARIA API, which extends the abilities on GUI library and path planning of the robot. In the forth chapter, it is to analyze the kinematics on the ArP2Arm, and to discuss the trajectory planning of the arm.Finally, a new event based control scheme is presented that deals with the limitations on Internet based telerobotic systems. The motion reference is independent of time, so this approach can deal with the unexpected or uncertainty and overcome the stability issue incurred by the time-varying delays. With the implement of some challenges such as the selection of motion reference, the design of planner, it realizes a task of grasping a pencil, and so on.