Task-based Data Exchange for Teleoperation Through Communication Network.

摘要

This paper proposes the task based data exchange for teleoperation systems through communication network as an efficient transmission method of data between an operation device and a remote robot. On the task-based data exchange, the more important information according to the contents and conditions of the task which the robot performs is given priority to transmit, for example, by altering the contents of the transmitted data. We have built the experimental system in which the master arm in Tsukuba and the slave arm in Kawasaki are connected through N-ISDN and the standard techniques are utilized, such as TCP/IP, socket, JPEG, etc. A series of experimental task has been effectively carried out by the task based data exchange, that is, the crank operation which consists of grasp and revolution. The communication network with capacity limitation was used effectively and the high maneuverability in real-time with bilateral servo control has been realized. Then the effectiveness of the task based data exchange has been confirmed.