Research On Remote Control System Of Manipulator Based On TCP/IP Network

With the continuous development of the robot and the network, the union of network technology and the robot technology has become a new important direction of robot technology development. It makes the telerobot systems based on network become a new hotspot. The network control of manipulator has been studied in this thesis, which has wide application in many fields, such as remote monitoring and operation, remote experiment and teaching, remote medical treatment and remote operation and so on,and has expansive foreground and immense value of exploitation.Firstly, the structure and the advantages of network control system and several factors which influence network control system have been introduced in this thesis. The testing methods of network time-delay has been mainly discussed, a procedures has been made to test network time-delay. The result has been analyzed.besides,get hold of characterizations which include exist and randomicity and limitary; Secondly, the models of the network control system have been set up, the effects of network time-delay have also been discussed. The sufficient condition of the stability of the system has been proved, and manage the LMI toolbox,receive the feedback control rate . After the discussion of the stability of the system, has introduced multi-congtrol ways, analysed excellence and defect and its apply area of each control way, and made particular research to the robust stability,according as lyapunov stability theorem and LMI tool. the robustness problems of the system have been discussed in this thesis. The H_∞controller which can effectively restrain the external disturbance of the network control system has been designed; In the end, the experiment platform of manipulator network control system has been designed using the TrueTime toolbox of Matlab, and compartmentalize emluator flatform into manipulator module and execute module and sensor module and controller module and network module,and set up model of each module, finally set up the simulation model of the manipulator network control system, verified the correctness and the rationality of the platform.