Design of a parallel VLSI processor for tele-robot systems based on dynamic reconfiguration of power supply voltages

To improve the responsibility and stability for force-reflecting bilateral tele-operation through the Internet, we propose a concept for compensation of the delay time for packet transfer based on model based simulation of objects and operator behavior. Moreover, to reduce the delay time and power consumption for the simulation, which is required especially for mobile tele-robot applications, we propose a parallel VLSI processor architecture based on dynamic reconfiguration of various kinds of multiply-adders and its power supply voltage according to the delay time of packet transfer for each sampling period.