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.
|出版ステータス||Published - 2003 12月 1|
|イベント||The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States|
継続期間: 2003 11月 2 → 2003 11月 6
|Conference||The 29th Annual Conference of the IEEE Industrial Electronics Society|
|Period||03/11/2 → 03/11/6|
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