Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control

Yutaka Uchimura, Takahiro Yakoh, Nobuyuki Yamasaki, Kouhei Ohnishi

研究成果: Paper査読

4 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1209-1214
ページ数6
DOI
出版ステータスPublished - 2003 12 1
外部発表はい
イベントThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
継続期間: 2003 11 22003 11 6

Conference

ConferenceThe 29th Annual Conference of the IEEE Industrial Electronics Society
国/地域United States
CityRoanoke, VA
Period03/11/203/11/6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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