| Following the development of the automation technology in recent years, we can see more and more robots used in our daily life. Although robots are widely used, most of them are only capable to do some simple and repeated work. When placed in complicated environment, most of them still need the interference of humankind. Besides, many robots are usually used in dangerous place or unreachable place by humankind, in these cases, the remote control of robot will be a good solution.Nowadays, the research of robot remote control is mostly focused in the fields such as vision feedback, network optimizing etc. And there is not a mature solution to control robot to do a series of complicated work. In order to design a reliable control system with flexible and friendly user interface, the difficulty of implementation, the cost of the development and the cost of the maintenance will be our consideration. In order to solve the above problems, this thesis introduced a robot remote control system based on real-time simulation and visual feedback which is manipulated by daily used game joystick. Most of the joysticks are specifically designed for the control of moving 3-d object, so it's a good choice to the manipulation of robot too, since the most movement of a robot is 3-d movement. And through the vision feedback provided by this system, user can check the circumstance of the robot work real time. Through the combination of robot simulation and collision detection technology, user can avoid the robot crashed into another object; this can improve the user experience also. Finally, this paper tested the robot control system in two mode, i.e. simulation mode and online mode. Both mode are tested in three different ways, i.e. joint operation way, robot operation way and combination way, the result of these test proved the correctness and efficiency of the system. |
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