Interpolation of Missing Data for Wireless Operation of Industrial Robot

摘要

This paper proposes an industrial robot system that interpolates data loss due to imperfect communication. Most wireless communication standards adopt Carrier Sense Multiple Access protocol. This protocol may introduce intentional delay in packet transmissions to avoid interference, on top of the delay caused by transmission failure and retransmission. This delay can vary the reception timing of commands to the robot, and affect the behavior of the robot. To overcome this problem, we develop an algorithm that interpolates the data not received appropriately at the robot side. Our findings demonstrate that the proposed method reduces unnecessary behavior (vibration) compared to the conventional one, thus improving the operability robot.