Robot Position Control with Force Information in Cooperation between Remote Robot Systems

摘要

This paper proposes robot position control which employs force information to alleviate large force applied to an object operated in cooperative work between remote robot manipulate a remote robot having a force sensor by using a haptic interface device while watching video. The proposed control moves the robot by taking advantage of human perception of force direction which we previously clarified. By experiment, we examine the effect of the control for work in which the two robots carry an object together. Experiment results demonstrate that the control can largely reduce the force applied to the object as compared with the case in which the control is not carried out.