基于Internet的遥机器人控制系统

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．

Internet-based Telerobot ControI System

In order to reduce the influence on the controllability of the robot caused by time-delay in Internetbased 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 time of the command information was compensated, which enhanced the reliability and precision of teleoperation. The muhithreading and buffers techniques were adopted during the transmission of the vision information, and the fusion between vision image and emulation image was realized. Experimental results show the advantages of this system.