一种6DOF并联机器人的远程控制仿真

提出一种基于Internet的六自由度并联平台的实时远程控制框架。该框架结构主要包括控制台和远程操作器，以及控制流、指令的传送机制和相应的控制流管理器。针对Internet上数据传输时间延迟的不确定性等难题，引入控制流管理器以提高系统实时能力并减小延迟抖动。系统仿真结果显示，提出的控制框架能够有效提高远程操作的实时能力。

Internet-based Teleoperation Simulations of 6DOF Parallel Manipulator

A new scheme is presented for real-time teleoperation of a 6-DOF parallel manipulator over the Internet. The architecture of the scheme consists of a control stream, transmitting commands and feedback, and managers located at the end of the stream. Simulations prove that the real-time-ability is improved and the delay jitter is reduced through cooperation control of the control stream managers.