Bilateral robot system on the real-time network structure

  title={Bilateral robot system on the real-time network structure},
  author={Yutaka Uchimura and Takahiro Yakoh},
  journal={IEEE Transactions on Industrial Electronics},
This paper presents a bilateral robot system, which is driven by the static friction-free drive system and implemented on the real-time network structure. The goal is to realize a force reflecting bilateral teleoperation with haptic impression transmission over computer networks. The paper considers two subjects relating to the bilateral robot. The first is static friction, which degrades the performance of manipulation and results in a poor haptic impression. A new transmission mechanism named… CONTINUE READING
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