Implementation of an event-based Internet robot teleoperation system

摘要

Internet time-delay, synchronization of the distributed system, collaboration and data transmission control are the key inherent problems in implementation of an Internet robot control system. To overcome these problems, the article combines the event-based direct control method and graphic predictive simulation to achieve a multi-operator dual-arm teleoperation system based on the Internet. The construction of hardware and software of this teleoperation system is presented comprehensively. The key technologies of the implementation of software is also discussed. In an experiment, this system attains precise position control of the remote robot and overcomes the Internet time-delay efficiently.