Abstract
This paper presents a bilateral robot system, which is driven by the static friction-free drive system and implemented on the real-time network structure. The goal is to realize a force reflecting bilateral teleoperation with haptic impression transmission over computer networks. The paper considers two subjects relating to the bilateral robot. The first is static friction, which degrades the performance of manipulation and results in a poor haptic impression. A new transmission mechanism named twin drive system developed by the authors resolves this problem. The transmission mechanism, which resembles the differential gear of automobiles, is essentially free of static friction. This static-friction-free motion greatly contributes to the broad range of motion control applications. The second subject is the time delay of the network, which may cause serious problems such as instability of the feedback system. To avoid such delay, the authors developed a new real-time network protocol stack (RTNP). The detailed mechanism of the twin drive system and architecture of the RTNP are presented, and the control scheme and experimental results are also shown.
| Original language | English |
|---|---|
| Pages (from-to) | 940-946 |
| Number of pages | 7 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 51 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2004 Oct |
| Externally published | Yes |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Instrumentation
Cite this
Bilateral robot system on the real-time network structure. / Uchimura, Yutaka; Yakoh, Takahiro.
In: IEEE Transactions on Industrial Electronics, Vol. 51, No. 5, 10.2004, p. 940-946.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Bilateral robot system on the real-time network structure
AU - Uchimura, Yutaka
AU - Yakoh, Takahiro
PY - 2004/10
Y1 - 2004/10
N2 - This paper presents a bilateral robot system, which is driven by the static friction-free drive system and implemented on the real-time network structure. The goal is to realize a force reflecting bilateral teleoperation with haptic impression transmission over computer networks. The paper considers two subjects relating to the bilateral robot. The first is static friction, which degrades the performance of manipulation and results in a poor haptic impression. A new transmission mechanism named twin drive system developed by the authors resolves this problem. The transmission mechanism, which resembles the differential gear of automobiles, is essentially free of static friction. This static-friction-free motion greatly contributes to the broad range of motion control applications. The second subject is the time delay of the network, which may cause serious problems such as instability of the feedback system. To avoid such delay, the authors developed a new real-time network protocol stack (RTNP). The detailed mechanism of the twin drive system and architecture of the RTNP are presented, and the control scheme and experimental results are also shown.
AB - This paper presents a bilateral robot system, which is driven by the static friction-free drive system and implemented on the real-time network structure. The goal is to realize a force reflecting bilateral teleoperation with haptic impression transmission over computer networks. The paper considers two subjects relating to the bilateral robot. The first is static friction, which degrades the performance of manipulation and results in a poor haptic impression. A new transmission mechanism named twin drive system developed by the authors resolves this problem. The transmission mechanism, which resembles the differential gear of automobiles, is essentially free of static friction. This static-friction-free motion greatly contributes to the broad range of motion control applications. The second subject is the time delay of the network, which may cause serious problems such as instability of the feedback system. To avoid such delay, the authors developed a new real-time network protocol stack (RTNP). The detailed mechanism of the twin drive system and architecture of the RTNP are presented, and the control scheme and experimental results are also shown.
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U2 - 10.1109/TIE.2004.834942
DO - 10.1109/TIE.2004.834942
M3 - Article
AN - SCOPUS:5444261308
VL - 51
SP - 940
EP - 946
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 5
ER -