Bilateral robot system on the real time network structure

Yutaka Uchimura, Kouhei Ohnishi, Takahiro Yakoh

研究成果: Paper査読

14 被引用数 (Scopus)

抄録

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 feedback 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 a "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, because all the components are always spinning. 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 structure and protocol. The detailed mechanism of the twin drive system and architecture of the real-time protocol are presented, and the control scheme and experimental results are shown.

本文言語English
ページ63-68
ページ数6
出版ステータスPublished - 2002 12 1
外部発表はい
イベント7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
継続期間: 2002 7 32002 7 5

Conference

Conference7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
国/地域Slovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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