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

Yutaka Uchimura, Takahiro Yakoh, Nobuyuki Yamasaki, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

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
Pages1209-1214
Number of pages6
DOIs
Publication statusPublished - 2003 Dec 1
Externally publishedYes
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2003 Nov 22003 Nov 6

Conference

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

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control'. Together they form a unique fingerprint.

Cite this