Real-time network based bilateral robot control system

Yutaka Uchimura, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
Pages548-553
Number of pages6
Publication statusPublished - 2006 Dec 1
Event23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 - Tokyo, Japan
Duration: 2006 Oct 32006 Oct 5

Publication series

Name2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006

Other

Other23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
CountryJapan
CityTokyo
Period06/10/306/10/5

Keywords

  • Bilateral robot
  • Computer network
  • Real-time network
  • Tele-operation

ASJC Scopus subject areas

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

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  • Cite this

    Uchimura, Y., & Ohnishi, K. (2006). Real-time network based bilateral robot control system. In 2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 (pp. 548-553). (2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006).