Research ArticleOpen AccessGoogle Scholar indexed
Enhancement of Stabilization Control in Remote Robot System with Force Feedback
Seijoh University, Tokai, Japan
Nagaoka University of Technology, Nagaoka, Japan
Nagoya Institute of Technology, Nagoya, Japan
- 1 Seijoh University, Tokai, Japan
- 2 Nagaoka University of Technology, Nagaoka, Japan
- 3 Nagoya Institute of Technology, Nagoya, Japan
International Journal of Communications, Network and System Sciences·Volume 12 (2019)·Pages 99–111·Published 18 July 2019·DOI10.4236/ijcns.2019.127008
Copy link · social · email
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.
KeywordsRemote Robot SystemStabilization ControlForce FeedbackQualityExperiment
- Ohnishi, K. (2013) Real World Haptics: Its Principle and Future Prospects. The Journal of the Institute of Electrical Engineers of Japan, 133, 268-269. (In Japanese) https://doi.org/10.1541/ieejjournal.133.268
- Kawai, T. (2013) Haptics for Surgery. The Journal of the Institute of Electrical Engineers of Japan, 133, 282-285. https://doi.org/10.1541/ieejjournal.133.282
- Ishibashi, Y. and Huang, P. (2016) Improvement of QoS in Haptic Communication and Its Future. The IEICE Transactions on Communications, J99-B, 911-925. (Japanese Edition)
- Huang, P. and Ishibashi, Y. (2013) QoS Control and QoE Assessment in Multi-Sensory Communications with Haptics. The IEICE Transactions on Communications, E96-B, 392-403. https://doi.org/10.1587/transcom.E96.B.392
- ITU-T Rec. I. 350 (1993) General Aspects of Quality of Service and Network Performance in Digital Networks.
- Miyoshi, T., Maeda, Y., Morita, Y., Ishibashi, Y. and Terashima, K. (2014) Development of Haptic Network Game Based on Multi-Lateral Tele-Control Theory and Influence of Network Delay on QoE. Transactions of the Virtual Reality Society of Japan, Special Issues on Haptic Contents, 19, 559-569. (In Japanese)
- Huang, P., Miyoshi, T. and Ishibashi, Y. (2017) Stability Control in Remote Bilateral Robot Control System with Force Feedback. IEEE the 3rd International Conference on Control, Automation and Robotics, Nagoya, 22-24 April 2017.
- Huang, P., Miyoshi, T. and Ishibashi, Y. (2017) Stabilization of Bilateral Control in Remote Robot System. IEICE Technical Report, CQ2016-125. (In Japanese)
- Suzuki, K., Maeda, Y., Ishibashi, Y. and Fukushima, N. (2015) Improvement of Operability in Remote Robot Control with Force Feedback. 4th Global Conference on Consumer Electronics, Osaka, 27-30 October 2015, 16-20. https://doi.org/10.1109/GCCE.2015.7398509
- Banthia, V., Maddahi, Y., Zareinia, K., Liao, S., Olson, T., Fung, W., Balakrishnan, S. and Sepehri, N. (2017) A Prototype Telerobotic Platform for Live Transmission Line Maintenance: Review of Design and Development. Transactions of the Institute of Measurement and Control, 40, 3273-3292. https://doi.org/10.1177/0142331216687021
- ITU-T Rec. G. 100/P. 10 Amendment 1 (2007) New Appendix I: Definition of Quality of Experience (QoE).
- Matsunaga, K., Ishibashi, Y., Fukushima, N. and Sugawara, S. (2012) Effect of Adaptive Reaction Force Control in Remote Control System with Haptic Media and Video. The 27th International Technical Conference on Circuits/Systems, Computers and Communications, Sapporo, 15-18 July 2002.