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Comparison of Stabilization Control in Cooperation between Remote Robot Systems with Force Feedback

Abstract— In this paper, we make a comparison among three types of stabilization control for cooperative work between remote robot systems with force feedback by experiment. In the system, a user can manipulate a remote industrial robot having a force sensor by using a haptic interface device while watching video. The three types of stabilization control are the reaction force control upon hitting, stabilization control by viscosity, and stabilization control with filter. In our experiment, the user employs the two systems and deals with work in which the two robots carry an object together. We perform the three types of stabilization control in each system and clarify which control is the most effective. 

Index Terms—remote robot system, force feedback, stabilization control, cooperation