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In this paper, a scheme for a haptic communication system is proposed by using an FPGA (Field Programmable Gate Array) and real-time network framework, RTnet. In the haptic communication system, the FPGA is used as a motion control processor, and the Linux-based real-time network framework is applied to the communication line between a master and a slave robot. The FPGA can execute control calculations...
In this paper, data compression and decompression method for real-world haptics using discrete cosine transform (DCT) is proposed and applied to a motion copy system. Haptics recently has attracted much interests and been and studied by many researchers. The technology of real-world haptics based on bilateral control systems is expected to apply teleoperation for precise task, education system for...
FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode...
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