Real-time network based bilateral robot control system

Yutaka Uchimura, Kouhei Ohnishi

研究成果: Conference contribution

抄録

This paper describes a bilateral robot control system that uses a real-time network and a prioritization scheme for data transmission via a network. The bilateral robot system is controlled by a new controller that improves impedance matching performance. The network system is implemented by a device named responsive processor which is was newly developed to enable real-time networking. Because the network capacity is limited, it is necessary to determine the priority order for the robot control data. The authors analyzed a control system with a time delay and assigned the priority order on the basis of robustness against time delay. To evaluate the priority assignment, experiments on a network-based bilateral robot were conducted. The experiment results confirmed the appropriateness of both the prioritization scheme and the order of the priority assignment.

本文言語English
ホスト出版物のタイトル2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
出版社Japan Robot Association
ページ548-553
ページ数6
ISBN(印刷版)4990271718, 9784990271718
DOI
出版ステータスPublished - 2006
イベント23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 - Tokyo, Japan
継続期間: 2006 10 32006 10 5

出版物シリーズ

名前2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006

Conference

Conference23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
CountryJapan
CityTokyo
Period06/10/306/10/5

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Building and Construction

フィンガープリント 「Real-time network based bilateral robot control system」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル