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Data transmission using motion detection based on sigma-delta modulation for bilateral control

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2 Author(s)
Fumiya Mitome ; Graduate School of Science and Technology, Keio University, Yokohama, Japan ; Kouhei Ohnishi

Σ-Δ estimation is a simple non linear method of background estimation used in the field of image processing. We propose the method of data transmission using the Σ-Δ modulation under narrow bandwidth, which degrades the performance due to time-discretization. In this paper, the Σ-Δ estimation is used as a method of motion detection of motors, and high priority is added to detected data. Hierarchical Token Bucket, which controls traffic in a link, discrimates motion data, and handles the packet with high priority preferentially. The motion detection algorithm based on traffic contonl is implemented into two degree-of-freedom robots to verify the validity of the proposed method. Effectiveness of the proposed method is verified through experiments.

Published in:

2012 12th IEEE International Workshop on Advanced Motion Control (AMC)

Date of Conference:

25-27 March 2012