Prioritized Data Transfer for a Bilateral Robot Control via Real-Time Network System

Yutaka Uchimura, Nobuyuki Yamasaki, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper describes a prioritization scheme for robot-control-related data that are transmitted via a real-time network system. The network system is constructed by a device named Responsive Processor and the network is applied to a bilateral robot system. The robot system is driven by a controller based on impedance matching theory. Due to a limitation of the network capacity, the priority order of the robot-control data must be determined. We analyzed a control system with time delay and assigned the priority order considering the robustness against time delay. To evaluate the priority assignment, we conducted experiments on a network based bilateral robot. The experimental results verified both the prioritization scheme and the order of the priority assignment.

Original languageEnglish
Pages (from-to)199-204
Number of pages6
JournalIEEJ Transactions on Industry Applications
Volume125
Issue number2
DOIs
Publication statusPublished - 2005 Sep 1

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Keywords

  • delay effects
  • force control
  • real time systems
  • Telerobotics

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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