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Effect of Stabilization Control on Cooperative Work between Remote Robot Systems with Force Feedback

Qin Qian 1, Yuichi Toyoda 1, Yutaka Ishibashi 1, Pingguo Huang 2, and Yuichiro Tateiwa 1
1. Graduate School of Engineering, Nagoya Institute of Technology, Nagoya 466-8555, Japan
2. Faculty of Business Administration, Seijoh University, Tokai 476-8588, Japan

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.

Index Terms—remote robot system, force feedback, stabilization control, cooperative work, experiment

Cite: Qin Qian, Yuichi Toyoda, Yutaka Ishibashi, Pingguo Huang, and Yuichiro Tateiwa, "Effect of Stabilization Control on Cooperative Work between Remote Robot Systems with Force Feedback" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 3, pp. 415-420, March 2020. DOI: 10.18178/ijmerr.9.3.415-420

Copyright © 2020 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.