Research Of Teleoperation Manipulator Control System Based On Network

As we all known, he hander controller is the essential interface between human and robot in Tele-operation system, which can control slave manipulator in real time and realize the Force Telepresence. Hence, design an excellent hander controller is quite important. Meanwhile, applying internet on hander controller is getting more and more popular as the rapid development of internet. In this paper, we’ll focus on the research on Control system. Based on the implementation of knob-style master manipulator with force feedback and the combination of hander controller and internet, an internet based control platform is constructed.Initially, we design a swift, simple constructed and easy manipulated knob-style master manipulator with force feedback. The detail instruction includes the structure of hander controller, principle of controlling and the implementation of force feedback. Besides, we design a three freedom manipulator and build an D-H dynamic function based on this. Finally, Matlab is utilized to do the Kinematics Simulation of this function.Secondly, the hardware and software of network teleoperation control system is designed, including the circuit of MCU, each sensor and wireless communication modules. In the software part, C/S mode is used on the PC console, which is based on the MFC to develop sever part and client part, and SPI bus is used to implement multiprocessor communication on the slave computer. In order to enhance the real time action, DMA data transfer technology is employed at here as well.Next, we use Directshow to develop the audio and video collection system. Especially, we design internet send and receive Filter for long distance audio and video transmission. We also elaborate the overall development process of the software about video and audio long distance transmission.Finally, the test for each module on the network teleoperation system is conducted. Then, the overall test on the whole system is processed, which is to verify the stability of the teleoperation control system.