Effect of Robot Position Control with Force Information for Cooperative Work between Remote Robot Systems

This paper enhances the robot position control with force information, which was previously proposed by the authors, for cooperative work between remote robot systems with force feedback. As cooperative work, we deal with work in which two robot arms carry an object together, and the robot position control with force information adjusts the robot position to reduce the force applied to the object. By experiment, we demonstrate that the value of position adjustment depends on the length and material of the carried object, and equations for obtaining the optimal value of position adjustment are obtained from the length for each material. We also illustrate the effectiveness of the equations and investigate the influence of network delay on the force applied to the object.