Effects of Robot Position Control Using Force Information in Remote Robot Systems with Force Feedback: Comparition between Human-Robot and Robot-Robot Cases

摘要

By experiment, this paper investigates effects of the robot position control using force information, which we previously proposed, for cooperative work between two remote robot systems with force feedback. As cooperative work, we deal with work in which a human and a robot arm in the system (i.e. human-robot) or two robot arms (robot-robot) carry an object together. Then, one robot arm which is operated automatically under the robot position control using force information follows a human or another robot arm. In our experiment, we compare force applied to the object between the human-robot and the robot-robot cases. In the robot-robot case, we also deal with the case in which the control is carried out in both systems, and the case in which the control is performed in only one system. Experimental results demonstrate that the human-robot case is the best among the three cases.