Prioritized Data Transfer for a Bilateral Robot Control via Real-Time Network System
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概要
- 論文の詳細を見る
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.
- 社団法人 電気学会の論文
- 2005-02-01
著者
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Ohnishi Kouhei
Faculty Of Science And Technology Keio University
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Ohnishi Kouhei
Division Of Gastroenterology And Hematology/oncology Department Of Medicine Asahikawa Medical Colleg
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Yamasaki Nobuyuki
Faculty Of Science And Technology Keio University
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UCHIMURA Yutaka
Kajima Technical Research Institute
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