关键词: 机器人, 网络遥操作, 混杂动态系统, 监控器, 网络控制系统

Abstract:

During the teleoperation of a robot via Internet,an operator cannot correctly and duly obtain real-time data due to the uncertain time delay in the Internet-based communication,So the state of a robot cannot be efec-tively controlled.To get out of the trouble,this paper is oncentrated on the modeling and control of Internet.based teleoperation system of robot by using the hybrid dynamic system approach,and proposes a supervisory control method,which solves the problem of uncertain time delay by setting a supervisory controller on the robot.The validity of this method is verified by experimental results.

Key words: robot, Internet-based teleoperation, hybrid dynamic system, supervisory controller, network control system