Bilateral robot system on the real time network structure

Yutaka Uchimura, Kouhei Ohnishi, Takahiro Yakoh

Research output: Contribution to conferencePaper

13 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages63-68
Number of pages6
Publication statusPublished - 2002 Dec 1
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Uchimura, Y., Ohnishi, K., & Yakoh, T. (2002). Bilateral robot system on the real time network structure. 63-68. Paper presented at 7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings, Maribor, Slovenia.