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Effect of QoS Control in Remote Master-Slave Robot Systems with Force Feedback

Nuzrath Hameedha A 1, Yutaka Ishibashi 1, and Konstantinos E. Psannis 2
1. Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, Japan
2. Department of Applied Informatics, University of Macedonia, Thessaloniki, Greece

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.

Index Terms-remote robot system, master-slave systems, force feedback, cooperative work, QoS control, network delay

Cite: Nuzrath Hameedha A and Yutaka Ishibashi, and Konstantinos E. Psannis, "Effect of QoS Control in Remote Master-Slave Robot Systems with Force Feedback," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 2, pp. 49-53, February 2021. DOI: 10.18178/ijmerr.10.2.49-53

​Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.