Research On Robot Teleoperation And Its Motion Simulation Based On Web

With the rapid development of robot technology, it began to be widely used in the daily life of human beings, in addition to industrial, military applications. How to more conveniently, quickly and cheaply control robots has become a prominent issue. Today, the Internet has become the information platform which closely associated with human life. It will influence the research and development of robot, and become a shortcut to resolve the issues. Web-based teleoperation robot can be controlled and monitored through its Web terminals, which has many of advantages, such as, the low price of communications cable, easy transplantable and interoperability, but also many new problems to robotic control need to be studied.First, this paper analyzed the characteristics of robot teleoperation,and the effect of Web-based communications on the remote control system. It also put forward several major functions that the remote control system must have. For web-based teleoperation robot system, we design a B/S-based three-layer architecture model combined with teleoperation prediction/ preview control strategy.Then, we take the 3-DOF robot for example and analyze its structural characteristics. Its kinematics and the inverse kinematics formula is given; In view of the requirements and characteristics of remote control, the "PC+PMAC+ Servo Systems" approach is adopted; the operating parameters of PMAC card is studied and optimally set. The robot control programming is completed by Calling PMAC's function library with C#.In the respect of remote control, several feasible schemes were proposed and experimented for the location accuracy and reliability of the remote control system. The DCOM and .NET Remoting technology is analyzed and compared on focus. Based above, the remote control to the robot is ultimately achieved through Remote Distributed Call technology - .NET Remoting.A virtual robot simulation system structure is proposed combined with VRML 3D modeling technology. Then, the simulation system is performanced. The problem has been effectively solved for the information exchange between control and simulation aspects. A closed-loop control of the robot is also completed. It basically fulfills the function that the teleoperation Prediction /preview control strategy requires. Then, the characteristics of several planning strategies are thorough studied. The problem of searching path for the robot is study in the two-dimensional plane. With the theory of Ant Colony Algorithm based Grid Method, the research of shortest path is achieved. The paper designs its algorithm concretely and program elementarily.Finally we establish a robot teleoperation website. A 3-DOF robot is controlled through the teleoperation system .The experiment shows that our Web-based teleoperation system has solved the two fundamental problems for remote operated robot, that is, the reliability and Location accuracy. It also provide the telepresence characteristic for the users.