Abstract
In this paper, we deal with a remote robot system in which a user can operate an industrial robot with a force sensor at a remote location by using a haptic interface device. We apply a method using the wave filter together with the phase control filter which was previously proposed by the authors to the remote robot system for stabilization control. We also propose a method to enhance the haptic quality. By experiment, we demonstrate the effectiveness of the proposed method. We compare the proposed method with the conventional method quantitatively and clarify which domains the proposed method is applied to more effectively.
Highlights
A number of researchers focus on studies of remote robot systems with force feedback [1] [2] [3]
We apply a method using the wave filter together with the phase control filter which was previously proposed by the authors to the remote robot system for stabilization control
This paper has the following two main contributions: 1) we propose an enhancement method of stabilization control to improve the haptic quality; 2) we clarify which domains the proposed method and conventional method are applied to more effectively
Summary
A number of researchers focus on studies of remote robot systems with force feedback [1] [2] [3]. By using force feedback, since users can touch remote objects and feel the shape, weight, and softness of the objects, the efficiency and accuracy are expected to be largely improved [4]. When the haptic information such as position and/or force information is transmitted over a Quality of Sevice (QoS) [5] non-guaranteed network like the Internet, QoS may seriously deteriorate [3] [4]. In the remote robot systems, when the network delay increases, the reaction force becomes larger, and unstability phenomena such as vibrations of the robot and device may occur [6] [7] [8]. We need to carry out stabilization control and QoS control together [4].
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Communications, Network and System Sciences
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
