TY - GEN
T1 - First test results of a haptic tele-operation system to enhance stability of telescopic handlers
AU - Cenci, Stefano
AU - Rosati, Giulio
AU - Zanotto, Damiano
AU - Oscari, Fabio
AU - Rossi, Aldo
PY - 2010
Y1 - 2010
N2 - According to a recent report of ILO (International Labour Organization), more than two million people die or loose the working capability every year because of accidents or work-related diseases. A large portion of these accidents are related to the execution of motion and transportation tasks involving heavy duty machines. The insufficient degree of interaction between the human operator and the machine may be regarded as one of the major causes of this phenomenon. The main goal of the tele-operation system presented in this paper is to both preserving slave (machine) stability, by reducing the inputs of slave actuators when certain unsafe working conditions occur, and improving the level of interaction at master (operator) side. Different control schemes are proposed in the paper, including several combinations of master and slave control strategies. The effectiveness of the algorithms is analyzed by presenting some experimental results, based on the use of a two degrees-of-freedom force feedback input device (with one active actuator and one passive stiff joint) coupled with a simulator of a telescopic handler.
AB - According to a recent report of ILO (International Labour Organization), more than two million people die or loose the working capability every year because of accidents or work-related diseases. A large portion of these accidents are related to the execution of motion and transportation tasks involving heavy duty machines. The insufficient degree of interaction between the human operator and the machine may be regarded as one of the major causes of this phenomenon. The main goal of the tele-operation system presented in this paper is to both preserving slave (machine) stability, by reducing the inputs of slave actuators when certain unsafe working conditions occur, and improving the level of interaction at master (operator) side. Different control schemes are proposed in the paper, including several combinations of master and slave control strategies. The effectiveness of the algorithms is analyzed by presenting some experimental results, based on the use of a two degrees-of-freedom force feedback input device (with one active actuator and one passive stiff joint) coupled with a simulator of a telescopic handler.
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U2 - 10.1115/ESDA2010-25305
DO - 10.1115/ESDA2010-25305
M3 - Conference contribution
AN - SCOPUS:79956086396
SN - 9780791849170
T3 - ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010
SP - 907
EP - 914
BT - ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010
T2 - ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010
Y2 - 12 July 2010 through 14 July 2010
ER -