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

Yutaka Uchimura, Takahiro Yakoh, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages475-480
Number of pages6
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Conference

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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Uchimura, Y., Yakoh, T., & Ohnishi, K. (2004). A real-time network based bilateral robot control with prioritized transfer of state variables. 475-480. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.