Study On Motion Prompting Method Of Tele-operated Construction Robot Based On Wireless Network

In this research, a motion prompting system of tele-operated construction robot based on wireless network was designed so as to achieve the motion telepresence of tele-operated construction robot in wireless network environment. The motion prompting system consisted of 3DOF motion prompting platform, hydraulic system, wireless communication system and measurement and control system. First, its principle was given. Further, theoretical analysis and experimental studies on motion prompting method, platform kinematics and following characteristics of the system were carried out. However, the accuracy and stability of the motion prompting system of tele-operated construction robot would be affected due to the existence of wireless network time-delay, by which the wireless network time-delay is time-varying. Therefore, the accuracy and stability of the motion prompting system of tele-operated construction robot based on wireless network were studied by using fuzzy PID and fuzzy neural network control algorithms in this paper. The main works of this paper are as follows:1. The implementation method of the motion prompt of tele-operated construction robot was studied. The working principle of the motion prompting platform and the overall scheme of the motion prompting system were given.2. The hardware and software system of the motion prompting system of tele-operated construction robot were designed. The design of the hardware system mainly included selection of sensor, data acquisition card and analog output card, as well as connection of hardware. Likewise, the design of software system consisted of server control software and client control software.3. A kind of conventional PID control algorithm was proposed, and the motion simulation of the motion prompting platform of tele-operated construction robot was carried out by using server control software and client control software in wireless network environment. In addition, the following characteristics of the motion prompting platform of tele-operated construction robot were studied experimentally.4. In order to improve the control accuracy of the motion prompting system of tele-operated construction robot based on wireless network, the control algorithm of fuzzy PID and fuzzy neural network were performed to control the motion prompting platform. Besides, the following characteristics of the motion prompting platform of tele-operated construction robot were studied experimentally.5. The wireless network time-delay is time-varying in the wireless network environment, which affects the accuracy of the motion prompting system of tele-operated construction robot. A wide area network emulator was used to simulate different wireless network time-delays. In addition, the control effects of conventional PID, fuzzy PID and fuzzy neural network under different network time-delays were studied experimentally.The research results show that:the following accuracy of the motion prompting platform of tele-operated construction robot can meet the engineering requirements. In comparison to the conventional PID and fuzzy PID control algorithm, the fuzzy neural network control algorithm not only has better control effect, and can improve the control accuracy of the system, but also has better stability and adaptability to the wireless network time-delay. Thus, this research can be regarded as reference and guidance for the development of tele-operated construction robot system with telepresence in wireless network environment.