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Prioritized Data Transfer For A Bilateral Robot Control Via Real-Time Network System
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| Author(s) |
Yutaka Uchimura, Nobuyuki Yamasaki, Kouhei Ohnishi |
| Abstract |
This paper presents a prioritization scheme for
the robot control-related data, which are transmitted via a
real-time network system.
The network system is constructed by a device named
Responsive Processor and it is applied to a bilateral robot
system, which is driven by a controller based on impedance
matching theory. Due to the limitation of the network capacity,
the priority order of the robot control-related data need to be
determined. We made an analysis on a control system with
time delay and assigned the priority order considering the
robustness against time delay.
In order to evaluate the priority assignment, we conducted
experiments on the network based bilateral robot. The experimental
results verified the order of the priority assignment
and supported the prioritization scheme. |
| Download |
| Filename: | A16698 |
| Filesize: | 992.4 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-17 by System |
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