Real-time Network System by Responsive Processor and Its Application to Bilateral Robot Control

摘要

This paper presents a new network device named Responsive Processor, plus its message handler, which is a basic protocol for the device. These are designed for a real-time control application such as a robot control. By using the Responsive Processor and message handler, we developed a bilateral robot system that transfers haptic impression over the network.First, we describe the network system requirements from the view of real-time control. Then, we introduce the main features and functions of the Responsive Processor. Implementation of the message handler, which is designed to maintain real-time performance, is described in detail. Benchmarks for using the message handler with the Responsive Processor are also shown.We also introduce a bilateral robot system, which transfers haptic impression over the network by the Responsive Processor. The robot manipulator is equipped with a newly devised transmission system, which is free from static friction. The experimental results conducted on the bilateral robot system verified real-time performance of the entire system.