Internet-based Telerobot Control System

LI Dong-jie; YOU Bo; QIU Jiang-yan; LI Xin

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Internet-based Telerobot Control System

更新时间：2026-07-10

- Internet-based Telerobot Control System
- Vol. 14, Issue 4, Pages: 41-45(2009)
- 作者机构：
  
  哈尔滨理工大学自动化学院
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242.2
- Published：2009
- 稿件说明：
移动端阅览
LI Dong-jie, YOU Bo, QIU Jiang-yan, et al. Internet-based Telerobot Control System[J]. 2009, 14(4): 41-45.
DOI：

LI Dong-jie, YOU Bo, QIU Jiang-yan, et al. Internet-based Telerobot Control System[J]. 2009, 14(4): 41-45. DOI：

摘要

为减小基于Internet的遥机器人系统中网络延时给机器人可控性带来的极大影响

基于所开发的智能运动控制器

以KLD-400机器人为被控对象搭建了一个具有力觉反馈的虚拟现实遥机器人系统

用3DS MAX+OpenGL+Visual C++6.0完成了机器人三维图形仿真系统的设计.通过模拟仿真实现对机器人的预测控制

并对遥操作过程中控制信息的传输时延进行了补偿

提高了遥操作的可靠性和准确性.视频信息的传输采用多线程多缓冲技术

保证了视频传输的实时性

并实现了视频图像与仿真图形的融合.实验结果证明了该系统的优越性.

Abstract

In order to reduce the influence on the controllability of the robot caused by time-delay in Internet-based telerobot system

a virtual reality telerobot system with force feedback was set up based on the intelligent motion controller developed by the authors.The controlled unit of the system is KLD-400 robot.The three-dimensional figure simulation system of the telerobot was designed with 3DS MAX

OpenGL and Visual C++6.0.The prediction-control of the telerobot was realized through simulation

and the delay t...

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