Position Follow-up Control for Hand Delivery of Object Between Moving Robot Arms of Remote Robot Systems with Force Feedback

  • Qin Qian
  • Yutaka IshibashiEmail author
  • Pingguo Huang
  • Yuichiro Tateiwa
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1036)


In this paper, we propose position follow-up control for dealing with hand delivery of an object between moving robot arms of remote robot systems with force feedback, and we investigate the effect of the control by experiment. We also examine influences of the network delay on the hand delivery of the object under the control. In each system, a user can operate the moving robot arm having a force sensor by using a haptic interface device while watching video. An electric hand which can hold the object is attached to the tip of the robot arm. In the position follow-up control, the position of one robot arm is automatically moved close to the other moving robot arm, and then smooth hand delivery is realized in combination with manual operation. In the experiment, we make a comparison between the case in which the position follow-up control is carried out and the case in which the control is not performed. Experimental results show that the average operation time is greatly decreased under the control, and the average operation time increases as the network delay becomes larger.



The authors thanks Yuichi Toyoda for his support to construct the experiment system. This work was supported by JSPS KAKENHI Grant Number 18K11261.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Qin Qian
    • 1
  • Yutaka Ishibashi
    • 1
    Email author
  • Pingguo Huang
    • 2
  • Yuichiro Tateiwa
    • 1
  1. 1.Nagoya Institute of TechnologyNagoyaJapan
  2. 2.Seijoh UniversityTokaiJapan

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