Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—In this paper, we compare effects of three types of QoS (Quality of Service) control for cooperative work in remote master-slave robot systems with force feedback. Two of the three types are the adaptive Δ-causality control and the robot position control with force information, which we previously proposed. The remaining one is a combination of the two types of control. In remote master-slave systems with force feedback, one remote robot system acts as a master and the other system acts as a slave. A user of the master system can remotely operate a robot of the master system by using a haptic interface device. A robot of the slave system automatically follows the robot of the master system. We perform cooperative work of moving a wooden stick held by the robot arms of the master and slave systems. Experimental results show that the combination of the two types of control is the most effective.
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