Passive Internet-based Crane Teleoperation with Haptic Aids

다국어 초록 (Multilingual Abstract)

Crane operation is a challenging task, due to the combined problem of obstacle avoidance and load swing suppression in underactuated conditions. This paper presents a human-machine interface that increases the operator’s perception of a gantry crane’s workspace. With this aim, a virtual environment resembling the workspace is connected with a haptic device. This allows the user to receive not only visual but also tactile feedback, thus increasing maneuvering safety. Additionally, this capability is integrated in a teleoperation setup, adopting a passivity-based control approach that guarantees overall stability. This includes also the design of controllers by means of the IDA-PBC method. Ex-perimental results carried out with a laboratory crane show its feasibility for internet-based teleopera-tion and demonstrate the improvements on the system performance.

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