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

Yutaka Uchimura, Takahiro Yakoh, Kouhei Ohnishi

研究成果: Conference contribution

抄録

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.

元の言語English
ホスト出版物のタイトルInternational Workshop on Advanced Motion Control, AMC
ページ475-480
ページ数6
出版物ステータスPublished - 2004
外部発表Yes
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki
継続期間: 2004 3 252004 3 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
Kawasaki
期間04/3/2504/3/28

Fingerprint

Time delay
Robots
Force control
Position control
Data transfer
Computer networks
Stiffness
Controllers
Experiments

ASJC Scopus subject areas

  • Engineering(all)

これを引用

Uchimura, Y., Yakoh, T., & Ohnishi, K. (2004). A real-time network based bilateral robot control with prioritized transfer of state variables. : International Workshop on Advanced Motion Control, AMC (pp. 475-480)

A real-time network based bilateral robot control with prioritized transfer of state variables. / Uchimura, Yutaka; Yakoh, Takahiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 475-480.

研究成果: Conference contribution

Uchimura, Y, Yakoh, T & Ohnishi, K 2004, A real-time network based bilateral robot control with prioritized transfer of state variables. : International Workshop on Advanced Motion Control, AMC. pp. 475-480, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, 04/3/25.
Uchimura Y, Yakoh T, Ohnishi K. A real-time network based bilateral robot control with prioritized transfer of state variables. : International Workshop on Advanced Motion Control, AMC. 2004. p. 475-480
Uchimura, Yutaka ; Yakoh, Takahiro ; Ohnishi, Kouhei. / A real-time network based bilateral robot control with prioritized transfer of state variables. International Workshop on Advanced Motion Control, AMC. 2004. pp. 475-480
@inproceedings{364e1bda98ae4ec496c2fbabaadf8e13,
title = "A real-time network based bilateral robot control with prioritized transfer of state variables",
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.",
author = "Yutaka Uchimura and Takahiro Yakoh and Kouhei Ohnishi",
year = "2004",
language = "English",
pages = "475--480",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - A real-time network based bilateral robot control with prioritized transfer of state variables

AU - Uchimura, Yutaka

AU - Yakoh, Takahiro

AU - Ohnishi, Kouhei

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=3042634470&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=3042634470&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:3042634470

SP - 475

EP - 480

BT - International Workshop on Advanced Motion Control, AMC

ER -