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

Yutaka Uchimura; Takahiro Yakoh; Nobuyuki Yamasaki; Kouhei Ohnishi

doi:10.1109/IECON.2003.1280225

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

Yutaka Uchimura, Takahiro Yakoh, Nobuyuki Yamasaki, Kouhei Ohnishi

Research output: Contribution to conference › Paper › peer-review

4 Citations (Scopus)

Abstract

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.

Original language	English
Pages	1209-1214
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2003.1280225
Publication status	Published - 2003 Dec 1
Event	The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States Duration: 2003 Nov 2 → 2003 Nov 6

Other

Other	The 29th Annual Conference of the IEEE Industrial Electronics Society
Country/Territory	United States
City	Roanoke, VA
Period	03/11/2 → 03/11/6

Keywords

Computer network
Delay effects
Force control
Protocols
Real time systems
Telerobotics

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2003.1280225

Cite this

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title = "Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control",

abstract = "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.",

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AU - Yakoh, Takahiro

AU - Yamasaki, Nobuyuki

AU - Ohnishi, Kouhei

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

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Keywords

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