Comparison of Stabilization Control for Writing Characters in Remote Robot System with Force Feedback

This paper makes a comparison among three types of stabilization control for writing characters in a remote robot system with force feedback. The three types of control are the stabilization control by viscosity, reaction force control upon hitting, and stabilization control with filters. We also examine the influence of network delay on writing characters. In the remote robot system, a user can remotely manipulate a robot arm having a force sensor by using a haptic interface device while watching video. In our experiment, the user writes characters by manipulating the robot arm with a pen under the three types of control and control (called no control here) in which stabilization control is not exerted. Experimental results illustrate that the reaction force control upon hitting is the most effective, and the operation becomes more difficult as the network delay increases.