research-article

Robot Position Control Using Force Information in Remote Robot Systems: Influence of Network Delay

Authors:

Yutaka Ishibashi,

Yuichiro TateiwaAuthors Info & Claims

ICCCM '23: Proceedings of the 2023 11th International Conference on Computer and Communications Management

Pages 150 - 155

https://doi.org/10.1145/3617733.3617757

Published: 31 October 2023 Publication History

Abstract

In this paper, we study Quality of Service (QoS) control utilizing a cloud (or server) in a remote robot system with force feedback. The objective is to investigate the influence of network delay on cooperative work of remote robot systems through experiments. In the experiments, the cooperative work involves grasping an object using two robot arms of two remote robot systems and carrying the object together. As QoS control, we focus on the robot position control using force information, which was previously proposed. We transmit the force information acquired from the remote robot system to the cloud which calculates the optimal adjustment value for the robot position control using the force information. The cloud then sends the value back to the remote robot system for the control. We examine the influence of network delay between the cloud and system on the cooperative work and demonstrate that the control is effective when the network delay is less than approximately 50 ms.

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References

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Cited By

Takahashi TOhtani SIshibashi YHuang PPsannis K(2023)Effect of Neural Network at Server on Robot Position Control Using Force Information2023 6th World Symposium on Communication Engineering (WSCE)10.1109/WSCE59557.2023.10365886(86-91)Online publication date: 27-Sep-2023
https://doi.org/10.1109/WSCE59557.2023.10365886

Index Terms

Robot Position Control Using Force Information in Remote Robot Systems: Influence of Network Delay
1. Networks
  1. Network services

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ICCCM '23: Proceedings of the 2023 11th International Conference on Computer and Communications Management

August 2023

284 pages

ISBN:9798400707735

DOI:10.1145/3617733

Copyright © 2023 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Published: 31 October 2023

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ICCCM 2023

ICCCM 2023: 2023 The 11th International Conference on Computer and Communications Management

August 4 - 6, 2023

Nagoya, Japan

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Cited By

Takahashi TOhtani SIshibashi YHuang PPsannis K(2023)Effect of Neural Network at Server on Robot Position Control Using Force Information2023 6th World Symposium on Communication Engineering (WSCE)10.1109/WSCE59557.2023.10365886(86-91)Online publication date: 27-Sep-2023
https://doi.org/10.1109/WSCE59557.2023.10365886

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