Passive internet-based crane teleoperation with haptic aids |
| |
Authors: | Alejandro F Villaverde Cesáreo Raimúndez Antonio Barreiro |
| |
Affiliation: | 1.Process Engineering Group,IIM-CSIC,Vigo,Spain;2.Department of Systems Engineering & Control,University of Vigo,36310,Spain |
| |
Abstract: | Crane operation is a challenging task, due to the combined problem of obstacle avoidance and load swing suppression in underactuated
conditions. This paper presents a human-machine interface that increases the operator’s perception of a gantry crane’s workspace.
With this aim, a virtual environment resembling the workspace is connected with a haptic device. This allows the user to receive
not only visual but also tactile feedback, thus increasing maneuvering safety. Additionally, this capability is integrated
in a teleoperation setup, adopting a passivity-based control approach that guarantees overall stability. This includes also
the design of controllers by means of the IDA-PBC method. Experimental results carried out with a laboratory crane show its
feasibility for internet-based teleoperation and demonstrate the improvements on the system performance. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|