Effect of QoS Control for Cooperative Work Between Remote Robot Systems with Force Feedback

In this paper, we examine the effect of QoS (Quality of Service) control for cooperation between two remote robot systems with force feedback. Previously, we applied the adaptive Δ-causality control as QoS control and the stabilization control with filters to cooperative work of carrying an object together by using the systems and demonstrated the effectiveness of the two types of control. However, when changing the movement direction, somewhat large force was applied to the object. We may be able to solve the problem by performing the robot position control using force information, which we previously proposed as QoS control. This paper applies the control to the work, and then the effect of the control is investigated by experiment.