11 páginas, 12 figuras ; 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 ; This work was supported by the Spanish Department of Science and Technology under grant DPI2004-07670-C02-01. ; Peer reviewed


    Access

    Download


    Export, share and cite



    Title :

    Passive internet-based crane teleoperation with haptic aids


    Contributors:

    Publication date :

    2012-01-01


    Remarks:

    2005-4092



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Haptic teleoperation of multiple unmanned aerial vehicles over the Internet

    Lee, Dongjun / Franchi, Antonio / Giordano, Paolo Robuffo et al. | Tema Archive | 2011


    Haptic intention augmentation for cooperative teleoperation

    Panzirsch, Michael / Balachandran, Ribin / Artigas, Jordi et al. | BASE | 2017

    Free access

    Outdoor haptic teleoperation of a hexarotor UAV

    Reyes, Sergio / Romero, Hugo / Salazar, Sergio et al. | IEEE | 2015


    VR Haptic Interfaces for Teleoperation: an Evaluation Study

    Ott, R. / Gutierrez, M. / Thalmann, D. et al. | British Library Conference Proceedings | 2005


    Bilateral Haptic Teleoperation of an Industrial Multirotor UAV

    Omari, Sammy / Hua, Minh-Duc / Ducard, Guillaume et al. | Tema Archive | 2014