The Research And Design Of Remote Control System Based On Cell Injection Robot

The remote control robot system is a hotspot of robotics research, with which people can stay in safe environment and control robot to work in dangerous environment. The master-slave remote control robot system uses network in the communication between master side and slave side, which extends the distance of remote control and lowers the cost of establishment. The remote control system proposed here is based on a cell injection robot, and we apply the teleopertation technology in the micro operation of cell injection. The research work mentioned in the paper is mainly focused on the following aspects.(1) Introduce the development and research hotspots of remote control system at home and abroad. To analyze the performance and stability of system, a kinetic analysis is done to the system. And then the system is transformed into a two-port network for simplifying the analysis.(2) The telepresence technology is used in the system, including vision telepresence and force telepresence. Operator can watch the real-time experimental video and feel the force exerted on the needle in real time when operating.(3) The network delay influences the performance and stability of remote control system directly. We analyze the network delay in the system and provide the calculation model. A test is done to measure the network delay of image transmission. The UDT protocol is used in the network communication, which is built on top of UDP. UDT protocol is capable of reliable data transmission, and it also inherits the high transfer speed property of UDP.(4) A series of experiment is done to verify the feasibility and practicality of the remote control system.The theoretical analysis and experimental results show the design of remote control system is feasible and practical.