Abstract: Following the development of internet technology，the remote control of robot is becoming a hot research for its wide range of applications.The time-delay and security problem caused by the complexity of internet is its key problems.This paper designs and implements an internet-based robot real-time simulation and visual feedback system.A real-time simulation based on state feedback is introduced to solve the time-delay and the security problem.In addition，both the off-line teaching simulation before on-line control and the mode switching from remote control to local control can make the robot manipulation more secure，and greatly reduce the time of on-line control.Finally，the experimental results show its correctness and feasibility.

摘要： 机器人远程控制随着互联网技术的发展逐渐成为目前的研究热点，它具有广泛的应用前景。由于互联网复杂性所带来的时延问题以及由此产生的安全问题是机器人远程控制的关键问题。设计和实现了一个基于互联网的机器人实时仿真和视觉反馈系统。首先，提出了基于状态反馈的实时仿真方法解决时延问题，以保证远程仿真机器人和本地服务器机器人的状态同步和机器人操作的安全性。其次，提出通过离线示教仿真之后再进行在线控制策略以及通过远程控制与本地自主控制的模式切换方法进一步地缩短在线操作时间和提高操作的安全性。最后，实验证明了基于互联网的实时仿真和视觉反馈系统的正确性和有效性。