Networked Robotic Control System

With the deeper development of network technology and robot technology, networked robotic control has been gradually focused among people, and it has also been a popular research subject in the academic field. Networked robotic control is a new and comprehensive research field which combines communication technology, robot technology and control theory. Networked robotic control is a kind of motion generated by operators’ remote control to sensitive robotic arms or devices, which can to a great degree expand human perception and operation ability. As a result, networked robotic control has been widely used in the field of medicine, aerospace, deep-sea exploration and military and so on, and it has a comprehensive prospect of application. In this paper, networked robotic control is based on the cooperative control of motion and force between master robot and slave robot. Networked robotic control achieves the goal of exchanging information such as position, velocity and force through network communication, and reaches the aim of cooperative control between master robot and slave robot via upper computers control program. The hardware platform consists of upper computers, DC servo motors, servo motor drivers, incremental photoelectric encoders, force sensors and robots; the software including control program and MFC UI program is developed by VS2005.This paper makes a research of networked robotic control, and firstly illustrates the significance of research of networked robotic control; then introduces the research status at home and abroad. Finally, the research is divided into two parts according to time delay, and the former part makes a research of cooperative robotic control with no time delays, while the latter part performs a research of robotic teleoperation with unsymmetrical time-varying delays. The main contents are as follows.The first part introduces knowledge of networked robotic control for research, which mainly introduces related math theory, adaptive control and fuzzy control.The second part introduces decentralized adaptive control with disturbance observers without time delays. This part introduces research background, system description of robots and controller design. Finally, a corresponding experiment is performed by networked robotic control system platform, and verifies that the controller can effectively improve performance of system.The third part introduces decentralized fuzzy control with impedance interaction without time delays, and mainly introduces research background and aims, system description of robots and controller design. At last, a targeted experiment is conducted on the platform and certifies that the controller can further improve performance of system.The fourth part introduces task-space control of bilateral teleoperation with unsymmetrical time-varying delays. This part mainly introduces research background, system description of robots and controller design. Finally, a related experiment is carried via networked robotic control system platform, and validates the effectiveness of the controller to teleoperation control with unsymmetrical time-varying delays.