Yu Yanqiu

Liao Qizheng

Wei Shimin

Automation School,

Beijing University of Posts and
Telecommunications,

Beijing 100876, China

Abstract: The working process of a client-server system to simulate and control remote robot via Internet is described. OpenGL is chosen to accomplish robot dynamic simulation according to the information of robot position and motion. And robot remote control protocol (RRCP) based on TCP/IP to accomplish remote communication between manipulator and robot is designed. The manipulator at remote place can simulate the motion state of robot and control robot to perform correlative operations according to the feedback information. Moreover, a new method of solving the problem of delay is showed. Firstly, since the information that is transmitted to client by server is only about parameters of robot motion, data are less than image information. Secondly, reasonable threshold values at server are set, thus the dynamic information of robot is encapsulated and sent to client only when the parameter values are higher than the threshold values and not every moment. So few data are transmitted on network, congestion is reduced, and the problems of delay and losing data packets are improved.