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HAPTICS
2008
IEEE

A Study on the Role of Force Feedback for Teleoperation of Industrial Overhead Crane

8 years 3 months ago
A Study on the Role of Force Feedback for Teleoperation of Industrial Overhead Crane
Abstract. In this paper, a study on the role of force feedback for teleoperation of industrial overhead crane is presented. Teleoperation of industrial crane was described and analyzed. We proposed several types of force feedback signals which can reduce sway motion in industrial crane. First, force feedback signal was selected and designed based on dynamic model of the system. Then, we simplified force feedback calculation method, and proposed velocity and sway angle based force feedback signals. Series of simulations and experiments for studying the role of force feedback for crane teleoperation were performed. User study showed importance of force feedback in crane teleoperation for reducing load sway. Experimental results for load anti-sway control without and with force feedback were compared and analyzed. Force feedback in teleoperation of overhead crane helped human-operator to reduce load sway two times faster than in conventional system without force feedback. Research illumi...
Ildar Farkhatdinov, Jee-Hwan Ryu
Added 09 Nov 2010
Updated 09 Nov 2010
Type Conference
Year 2008
Where HAPTICS
Authors Ildar Farkhatdinov, Jee-Hwan Ryu
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