Robot Movement Control Using Force Sensor in Remote Robot Systems

摘要

In this paper, robot movement control using force sensor is proposed for cooperative work between remote robot systems with force feedback. A user of each system operates a remote robot which has a force sensor by manipulating a haptic interface device while monitoring the work of the robot. The proposed control automatically moves a robot arm according to force gotten by the force sensor in cooperative work where we carry an object between two systems when a network environment of one system is not good. By experiment, we demonstrate superiority of the control to conventional control.