First test results of a haptic tele-operation system to enhance stability of telescopic handlers

Stefano Cenci, Giulio Rosati, Damiano Zanotto, Fabio Oscari, Aldo Rossi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010
Pages907-914
Number of pages8
DOIs
StatePublished - 2010
EventASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010 - Istanbul, Turkey
Duration: 12 Jul 201014 Jul 2010

Publication series

NameASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010
Volume3

Conference

ConferenceASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010
Country/TerritoryTurkey
CityIstanbul
Period12/07/1014/07/10

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