Design And Implementation Of Robot Teleoperation Platform

Robot teleoperation is a remote control technology that controls the movement of a remote robot.It is widely used in robot remote control,r~emote data collection,etc.It has a wide application space and practical value.Based on the existing teleoperation technology,this paper draws on the advanced computer and Internet technologies to build a universal and simple teleoperation platform.Through this platform,we realize the operator's input instruction acquisition,the host computer control interface construction,the establishment of three-dimensional simulation environment,the transmission of network data,the design of multi-protocol control,the encoding and decoding of video,the transmission of streaming media,and the reception and analyzation of remote instructions,remote robot servo's control and other functions.The operator can conveniently control the remote robot through the platform and collect the status information of the remote robot,and finally achieve the purpose of remotely operating the robot.The difficulty in the design of teleoperation platform is the processing of network delays and the transmission of video,the establishment of a simulation environment.Internet network transmission is affected by many factors such as the network environment and the amount of transmit data.Inevitably,there are problems such as network delay,packet loss,and delay jitter.This paper uses delay prediction to handle network delay.Based on the acquisition and analysis of time-delay data,a Grey-GA-Elman delay prediction algorithm is proposed.Gray delay prediction and neural network algorithm are used to predict the network delay.The prediction results are very similar to the real results.This paper adopts H.264 relevant standard to code and decorde the video,adopt the transmission mode of streaming media to carry on the video transmission,to solve the problem that transmit video data is slow because of the large amount of data.In addition,this article uses Unity3D technology to build a three-dimensional simulation environment and the host computer interface,easy to use,portability,and greatly enhance the platform's interactivity and practicality.Finally,through a series of experiments,the feasibility and stability of the platform are verified.