Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control

Yutaka Uchimura, Takahiro Yakoh, Nobuyuki Yamasaki, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

This paper presents a new network device, which is named Responsive Processor, plus its message handler, which is a basic protocol for the device. These are designed for a hard real-time control application such as a robot control. By using the Responsive Processor and message handler, we developed a bilateral robot system that transfers haptic impression over a network. First, we discuss the network system requirements from the view of real-time control. Then, we introduce the main features and functions of the Responsive Processor. Implementation of the message handler, which is designed to maintain real-time performance, is described in detail. Benchmarks for using the message handler with the Responsive processor are also shown. The results of experiments conducted on a bilateral robot system verified real-time performance of the entire system.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1209-1214
Number of pages6
Volume2
DOIs
Publication statusPublished - 2003
Externally publishedYes
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA
Duration: 2003 Nov 22003 Nov 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
CityRoanoke, VA
Period03/11/203/11/6

Fingerprint

Real time control
Robots
Real time systems
Experiments

Keywords

  • Computer network
  • Delay effects
  • Force control
  • Protocols
  • Real time systems
  • Telerobotics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Uchimura, Y., Yakoh, T., Yamasaki, N., & Ohnishi, K. (2003). Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1209-1214) https://doi.org/10.1109/IECON.2003.1280225

Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control. / Uchimura, Yutaka; Yakoh, Takahiro; Yamasaki, Nobuyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2 2003. p. 1209-1214.

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

Uchimura, Y, Yakoh, T, Yamasaki, N & Ohnishi, K 2003, Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control. in IECON Proceedings (Industrial Electronics Conference). vol. 2, pp. 1209-1214, The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, 03/11/2. https://doi.org/10.1109/IECON.2003.1280225
Uchimura Y, Yakoh T, Yamasaki N, Ohnishi K. Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control. In IECON Proceedings (Industrial Electronics Conference). Vol. 2. 2003. p. 1209-1214 https://doi.org/10.1109/IECON.2003.1280225
Uchimura, Yutaka ; Yakoh, Takahiro ; Yamasaki, Nobuyuki ; Ohnishi, Kouhei. / Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control. IECON Proceedings (Industrial Electronics Conference). Vol. 2 2003. pp. 1209-1214
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