Task-based data exchange for remote operation system through a communication network

Takafumi Matsumaru, Syun'ichi Kawabata, Tetsuo Kotoku, Nobuto Matsuhira, Kiyoshi Komoriya, Kazuo Tanie, Kunikatsu Takase

Research output: Chapter in Book/Report/Conference proceedingChapter

16 Citations (Scopus)

Abstract

This paper proposes the task-based data exchange for teleoperation systems through a communication network as an efficient method of transmitting data between an operation device and a remote robot. On the task-based data exchange, the more important information according to the contents and conditions of the task which the robot performs is given transmission priority, for example, by altering the contents of the transmitted data. We have built an experimental system in which the master arm in Tsukuba and the slave arm in Kawasaki, separated by about 100 km, are connected through N-ISDN and the standard techniques are utilized, such as TCP/IP, socket, JPEG, etc. A series of experimental tasks has been effectively carried out by the task-based data exchange, that is, crank operation which consists of grasping and revolution. The communication network with capacity limitations was used effectively, and the high maneuverability in real-time with bilateral servo control has been realized. The effectiveness of the task-based data exchange has been confirmed.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages557-564
Number of pages8
Volume1
Publication statusPublished - 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 1999 May 101999 May 15

Other

OtherProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
CityDetroit, MI, USA
Period99/5/1099/5/15

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Matsumaru, T., Kawabata, S., Kotoku, T., Matsuhira, N., Komoriya, K., Tanie, K., & Takase, K. (1999). Task-based data exchange for remote operation system through a communication network. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 557-564). IEEE.