S. Cenci, G. Rosati, D. Zanotto, F. Oscari, and A. Rossi
First test results of a haptic tele-operation system to enhance stability of telescopic handlers
In Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis ESDA2010-25305, Istanbul, Turkey, July 12-14 2010

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 workrelated 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.

Area: Automazione
Attivitą: Modellazione cinematica e dinamica di macchine operatrici
Progetto: SMS SIAMO

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