A real-time network based bilateral robot control with prioritized transfer of state variables

Yutaka Uchimura, Takahiro Yakoh, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a prioritization scheme of the control state variables transmitted via a computer network, considering time delay. The robustness of each state variable against time delay is evaluated, and then the priority order is assigned. The priority based data transfer is implemented on a real-time network system by a device named Responsive Processor. The network system is applied to a bilateral robot system, which is driven by a controller based on impedance matching theory. The control algorithm employs an adaptive hybrid control method, which adjusts the hybrid combination ratio of position control and force control depending on the variation of the remote environment. Experiments were conducted to evaluate the priority assignment. Various combinations of the time delay and state variables were set up. The results conducted to the different stiffness objects, verified the effectiveness of priority assignment and supported the analytical results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages475-480
Number of pages6
Publication statusPublished - 2004
Externally publishedYes
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CityKawasaki
Period04/3/2504/3/28

Fingerprint

Time delay
Robots
Force control
Position control
Data transfer
Computer networks
Stiffness
Controllers
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Uchimura, Y., Yakoh, T., & Ohnishi, K. (2004). A real-time network based bilateral robot control with prioritized transfer of state variables. In International Workshop on Advanced Motion Control, AMC (pp. 475-480)

A real-time network based bilateral robot control with prioritized transfer of state variables. / Uchimura, Yutaka; Yakoh, Takahiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 475-480.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Uchimura, Y, Yakoh, T & Ohnishi, K 2004, A real-time network based bilateral robot control with prioritized transfer of state variables. in International Workshop on Advanced Motion Control, AMC. pp. 475-480, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, 04/3/25.
Uchimura Y, Yakoh T, Ohnishi K. A real-time network based bilateral robot control with prioritized transfer of state variables. In International Workshop on Advanced Motion Control, AMC. 2004. p. 475-480
Uchimura, Yutaka ; Yakoh, Takahiro ; Ohnishi, Kouhei. / A real-time network based bilateral robot control with prioritized transfer of state variables. International Workshop on Advanced Motion Control, AMC. 2004. pp. 475-480
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