基于无线网络的遥操作工程机器人运动提示方法研究-机械工程专业论文.docx

万 万方数据 广东工业大学硕士学位论文 II ABSTRACTABSTRACT ABSTRACT ABSTRACT In this research，a motion prompting system of tele-operated construction robot based on wireless network was designed SO as to achieve the motion telepresence of tele—operated construction robot in wkeless network environment．The motion prompting system consisted of 3DOF motion prompting platform，hydraulic system，wireless communication system and measurement and control system．First，its principle was given．Further，theoretical analy sis and experimental studies on motion prompting method，platform kinematics and following characteristics of the system were carried out． However，the accuracy and stability of the motion prompting system of tele-operated construction robot would be affected due to the existence of wireless network time-delay， by which the wireless network time—delay is time—varying．Therefore，the accuracy and stability of the motion prompting system of tele-operated construction robot based on wireless network were studied by using fuzzy PID and fuzzy neural network control algorithms in this paper．The main works of this paper are as follows： 1．The implementation method of the motion prompt of tele-operated construction robot was studied．The working principle of the motion prompting platform and the overall scheme of the motion prompting system were given． 2．The hardware and software system of the motion prompting system of tele．operated construction robot were designed．The design of the hardware system mainly included selection of sensor，data acquisition card and analog output card，as well as connection of hardware．Likewise，the design of software system consisted of server control software and client control software． 3．A kind of conventional PID control algorithm was proposed，and the motion simulation of the motion prompting platform of tele—operated construction robot was carried out by using server control software and client control software in wireless network environment．In addition，the fol