[论文]局部与全局自适应Δ-Causality控制对力反馈远程机器人系统协同工作的影响

IF 0.5 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC ITE Transactions on Media Technology and Applications Pub Date : 2022-01-01 DOI:10.3169/mta.10.1

Nuzrath Hameedha A, Y. Ishibashi

{"title":"[论文]局部与全局自适应Δ-Causality控制对力反馈远程机器人系统协同工作的影响","authors":"Nuzrath Hameedha A, Y. Ishibashi","doi":"10.3169/mta.10.1","DOIUrl":null,"url":null,"abstract":"In this paper, we investigate eﬀects of two kinds of the adaptive Δ-causality control, which adjusts the output timing of the position information among multiple terminals, on cooperative work between two remote robot control systems with force feedback by experiment. One is the local control under which the adaptive Δ-causality control is partially applied to the systems, and the other is the global control under which the adaptive Δ-causality control is globally done. In each system, a user remotely operates a robot having a force sensor by using a haptic interface device while watching video. We conduct cooperative work of carrying an object grasped by two robot arms and compare the two kinds of control in our experiment. Experimental results illustrate that the global control is more eﬀective than the local control for the cooperative work.","PeriodicalId":41874,"journal":{"name":"ITE Transactions on Media Technology and Applications","volume":"1 1","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"[Paper] Effects of Local and Global Adaptive Δ-Causality Control on Cooperative Work between Remote Robot Systems with Force Feedback\",\"authors\":\"Nuzrath Hameedha A, Y. Ishibashi\",\"doi\":\"10.3169/mta.10.1\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we investigate eﬀects of two kinds of the adaptive Δ-causality control, which adjusts the output timing of the position information among multiple terminals, on cooperative work between two remote robot control systems with force feedback by experiment. One is the local control under which the adaptive Δ-causality control is partially applied to the systems, and the other is the global control under which the adaptive Δ-causality control is globally done. In each system, a user remotely operates a robot having a force sensor by using a haptic interface device while watching video. We conduct cooperative work of carrying an object grasped by two robot arms and compare the two kinds of control in our experiment. Experimental results illustrate that the global control is more eﬀective than the local control for the cooperative work.\",\"PeriodicalId\":41874,\"journal\":{\"name\":\"ITE Transactions on Media Technology and Applications\",\"volume\":\"1 1\",\"pages\":\"\"},\"PeriodicalIF\":0.5000,\"publicationDate\":\"2022-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ITE Transactions on Media Technology and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3169/mta.10.1\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ITE Transactions on Media Technology and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3169/mta.10.1","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}

引用次数: 1

摘要

本文通过实验研究了两种调整多终端间位置信息输出时序的自适应Δ-causality控制对两个力反馈远程机器人控制系统协同工作的影响。一种是局部控制，其中自适应Δ-causality控制部分应用于系统，另一种是全局控制，其中自适应Δ-causality控制是全局完成的。在每个系统中，用户在观看视频的同时，通过使用触觉界面设备远程操作具有力传感器的机器人。我们在实验中进行了两个机器人手臂抓取物体的协同搬运工作，并对两种控制方式进行了比较。实验结果表明，全局控制比局部控制对协同工作更有效。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

[Paper] Effects of Local and Global Adaptive Δ-Causality Control on Cooperative Work between Remote Robot Systems with Force Feedback

In this paper, we investigate eﬀects of two kinds of the adaptive Δ-causality control, which adjusts the output timing of the position information among multiple terminals, on cooperative work between two remote robot control systems with force feedback by experiment. One is the local control under which the adaptive Δ-causality control is partially applied to the systems, and the other is the global control under which the adaptive Δ-causality control is globally done. In each system, a user remotely operates a robot having a force sensor by using a haptic interface device while watching video. We conduct cooperative work of carrying an object grasped by two robot arms and compare the two kinds of control in our experiment. Experimental results illustrate that the global control is more eﬀective than the local control for the cooperative work.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

ITE Transactions on Media Technology and Applications ENGINEERING, ELECTRICAL & ELECTRONIC-

CiteScore

1.70

自引率

0.00%

发文量

期刊介绍：・Multimedia systems and applications ・Multimedia analysis and processing ・Universal services ・Advanced broadcasting media ・Broadcasting network technology ・Contents production ・CG and multimedia representation ・Consumer Electronics ・3D imaging technology ・Human Information ・Image sensing ・Information display ・Multimedia Storage ・Others.