The Study Of The Web-based Teleoperation Control Technique For The Mobile Manipulator

The teleoperation of mobile manipulators is a valid method in the fields of space exploring, deep sea prospecting, dangerous condition working and others. With the development of the Internet technique and increasement of transfer speed through the web, a cheap and convenient communication approach is provided for the teleoperation of mobile manipulators. The technique of web-based teleoperation extend the applications fields of mobile manipulators, such as remote medical treatment, devices sharing and distance education. In this paper, an web-based teleoperation system of mobile manipulators is studied. According to the properties of Internet, a web-based multi-layer distributed teleoperation experimental system of the mobile manipulator is built.First of all, the adjustment procedure of the mobile manipulator hardware has been done over the experimental platform. Then, the web-based control software system has been set up in the platform,achieved the movement control via the Internet Explorer browser and sensors parameters receiving via Applet. Employing Java Applet,JSP and JavaBean techniques, a well designed web control software in the server side has been built and leads to monitor mobile manipulator status, direct motion control,receive the sensors parameters and monitor time-delays.In addition, this paper also establish a mobile manipulator kinematics model and an inverse kinematics model, and the trajectory tracking of mobile manipulator end is simulated by BP neural network.