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 illuminated a large role of force feedback compare to vision in industrial crane teleoperation.
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© 2008 Springer-Verlag Berlin Heidelberg
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Farkhatdinov, I., Ryu, JH. (2008). A Study on the Role of Force Feedback for Teleoperation of Industrial Overhead Crane. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_101
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DOI: https://doi.org/10.1007/978-3-540-69057-3_101
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69056-6
Online ISBN: 978-3-540-69057-3
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