Professor of School of Engineering, Design and Built Environment, 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.
2023-02-17
2023-04-21
2023-03-03
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.
