Effects of adaptive Δ-causality control for cooperation between remote robot systems with force feedback by using master-slave relation

Abstract

This paper investigates effects of the adaptive Δ-causality control, which we previously proposed, for cooperation between two remote robot systems with force feedback by using a master-slave relation by experiment. The adaptive Δ-causality control sends the position information of the industrial robot in the master system to the industrial robot of the slave system, and the control delays its transmission to the industrial robot in the master system by the network delay from the master system to the slave system. In the experiment, we carry a wooden stick together by gripping both ends of the stick with the two arms of the industrial robots. Experimental results demonstrate that the influence of the network delay is greatly alleviated by the control.