Enhancement of Stabilization Control in Remote Robot System with Force Feedback

• 作者: Pingguo Huang Takanori Miyoshi Yutaka Ishibashi
• 来源期刊: 通讯、网络与系统学国际期刊(英文)
• 学科: 医学
• 关键词: REMOTE ROBOT System STABILIZATION Control Force FEEDBACK Quality Experiment
• 年，卷（期）: 2019,（7）
• 页码范围: 99-111
• 页数: 13页
• 分类号: R73

摘要

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.