Real-time network system by responsive processor and its application to bilateral robot control

This paper presents a new network device, which is named responsive processor, plus its message handler, which is a basic protocol for the device. These are designed for a hard 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 a network. First, we discuss 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. The results of experiments conducted on a bilateral robot system verified real-time performance of the entire system.

[1]  S. Shankar Sastry,et al.  Robotics for telesurgery: second generation Berkeley/UCSF laparoscopic telesurgical workstation and looking towards the future applications , 2003, Ind. Robot.

[2]  Kouhei Ohnishi,et al.  Bilateral robot system on the real time network structure , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[3]  Nobuyuki Yamasaki,et al.  Responsive processor for parallel/distributed real-time control , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[4]  Tsuneo Yoshikawa,et al.  Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay , 2000, ISER.

[5]  Toshiyuki Murakami,et al.  A friction compensation in twin drive system , 2000, 6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494).

[6]  Alan Burns,et al.  Analysis of hard real-time communications , 1995, Real-Time Systems.

[7]  Bruce A. Francis,et al.  Bilateral controller for teleoperators with time delay via μ-synthesis , 1995, IEEE Trans. Robotics Autom..

[8]  Andy J. Wellings,et al.  Analysing real-time communications: controller area network (CAN) , 1994, 1994 Proceedings Real-Time Systems Symposium.

[9]  John D. Wheels.  Process control communications: Token bus, CSMA/CD, or token ring? , 1993 .

[10]  Kouhei Ohnishi,et al.  Disturbance observer-based motion control of direct drive motors , 1991 .

[11]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1988, Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics.

[12]  William R. Ferrell,et al.  Remote manipulation with transmission delay. , 1965 .

[13]  M. Safonov,et al.  Stability analysis of a system with time-delayed states , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[14]  Victor Yodaiken,et al.  A Real-Time Linux , 2000 .

[15]  O. J. M. Smith,et al.  A controller to overcome dead time , 1959 .