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 handle the switching control, which we previously proposed as stabilization control. We investigate the effect of the switching control on cooperative work between two remote robot systems with force feedback. We also examine the influence of the network delay on hand delivery of an object as the cooperative work by experiment. In each system, a user can remotely manipulate a robot arm having a force sensor by using a haptic interface device while watching video. In our experiment, the user hand-delivers (or receives) an object between the two robot arms under the switching control and no stabilization control. Experimental results illustrate that the switching control is effective in the cooperative work, and the average work time increases as the network delay becomes larger.
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