Please use this identifier to cite or link to this item:
https://ruomo.lib.uom.gr/handle/7000/1526
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. |
URI: | https://doi.org/10.18178/ijmerr.10.2.49-5 https://ruomo.lib.uom.gr/handle/7000/1526 |
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 | Size | Format | |
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20210204015107798 Effect of QoS Control in Remote Master-Slave.pdf | 20210204015107798 Effect of QoS Control in Remote Master-Slave.pdf | 1,82 MB | Adobe PDF | View/Open |
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