Please use this identifier to cite or link to this item:
Title: Effect of QoS Control in Remote Master-Slave Robot Systems with Force Feedback
Authors: Hameedha, Nuzrath
Ishibashi, Yutaka
Psannis, Kostas E.
Type: Article
Subjects: FRASCATI::Engineering and technology
FRASCATI::Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Keywords: remote robot system
master-slave systems
force feedback
cooperative work
QoS control
network delay
Issue Date: 2021
Publisher: ijmer
Source: International Journal of Mechanical Engineering and Robotics Research
Volume: 10
Issue: 2
First Page: 49
Last Page: 53
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.
Electronic ISSN: 2278-0149
Other Identifiers: 10.18178/ijmerr.10.2.49-5
Appears in Collections:Department of Applied Informatics

Files in This Item:
File Description SizeFormat 
20210204015107798 Effect of QoS Control in Remote Master-Slave.pdf20210204015107798 Effect of QoS Control in Remote Master-Slave.pdf1,82 MBAdobe PDFView/Open

This item is licensed under a Creative Commons License Creative Commons