The Study Of The Delay Network Control System For The Mobile Manipulator

The Web-based remote control system of mobile manipulators is becoming the hottest fields in the remote control systems of robotics at present. With the development of the Internet, the technique of web-based teleoperation extends the application fields of mobile manipulators. In this paper, a web-based teleoperation system of mobile manipulators is studied. According to the properties of the Internet, a web-based teleoperation experimental system of the mobile manipulator is built. The system is available for different remote users to control mobile manipulator, and it is autonomous, easy to use and independent of operating system.Supported by the Tianjin Natural Science Foundation (06YFJMJC03600) and Tianjin High Education Technology Developing Foundation (2006BA11), the thesis is carried on the research on the mobile manipulator. The main contents are as following:First of all, the adjustment procedure of the mobile manipulator hardware has been done over the experimental platform. On the platform, according to the web-based remote control system platform requirement, the Browser/ Server structure is used, the three-tier architecture including the client layer based on. NET, the server layer and back-end system layer is designed. the function of the Network Control System is established. Then a mobile manipulator remote control system platform for experiments is built.Then, the reasons that cause network control time delay are analyzed. By the characteristic of Internet, transmission delay influences the stability of the control systems. How to reduce the effects of the delay is important to the systems. Based on the test and analysis of time-delay, the changing rules and classifications on the time-delay are developed. The uncertainty of time-delay over the Internet is studied. Finally, the control strategy and compensation scheme according to different delays are proposed. A suitable control mode is given to user based on delay.In the end, the control system is tested, and the results show the system capacity is stable and validates the feasibility and correctness of the control strategy.