Teleoperation testing system for Stewart platform was developed to study Stewart platform teleoperation stability under condition of large time delay. Ethernet was used to simulate the telecommunication channel, which linked two Stewart platforms control systems. DirectX technology was used to build user input interface and video feedback without consideration of hardware. Open graphic library(OpenGL) technology was used to establish virtual operation environment, through which time delay could be compensated. To obtain higher accuracy, neural network forward kinematics solution, instead of traditional methods, was used to drive virtual models. Communication bandwidth was monitored online to assure operation command's priority. The continuity of video transmission was guaranteed by changing transmission rate. The result shows that platform is easily controlled by operator's command input, position and attitude information is feedback through virtual operation environment and video, testing system meets design requirements.
�Զ�ѡ,�ƺ���,���ı�,��.ң�������̻�����ϵͳ�ٳ��м����о�[J].�������ѧ��,2002,9(3):127-130 Zhao Dingxuan, Huang Haidong, Gong Wenbin, et al. Study on the technology of telepresence in operating a construction telerobot system[J].Journal of Engineering Design, 2002,9(3):127-130(in Chinese)