Influence of Change in Communication Quality on Work Between Remote Mater-Slave Robot Systems with Force Feedback

We handle work of carrying an object by using remote master-slave robot systems with force feedback and examine the influence of change in communication quality. When the communication quality is good, the position information of the master robot remotely controlled by a haptic interface device is transferred to the slave robot, which is moved by using the information. On the other hand, when the communication quality is poor and the position information cannot be transferred, the robot position is changed by using the force information obtained with a force sensor attached to the robot. Through experiment, we clarify the effect of switching control between using position information and using force information according to the communication quality by measuring the position of the robot and the force applied to the object.