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

摘要

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.