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. Experimental results carried out with a laboratory crane show its feasibility for internet-based teleoperation and demonstrate the improvements on the system performance.
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Recommended by Editorial Board member Shinsuk Park under the direction of Editor Hyoukryeol Choi.
This work was supported by the Spanish Department of Science and Technology under grant DPI2004-07670-C02-01. A. F. Villaverde thanks A. J. van der Schaft for helpful comments, and Miguel Díaz-Cacho for collaboration with the experimental setup.
Alejandro F. Villaverde received his MEng and Ph.D. degrees in Electrical Engineering from the University of Vigo in 2004 and 2009, respectively. He is currently at the Spanish National Research Council (CSIC), where he works on system identification and optimization techniques in systems biology. His previous research interests include teleoperation, passivitybased control, reset control, and haptics. He has been a visiting researcher at Stanford, MIT, and the University of Groningen.
Cesáreo Raimúndez received his Electronic Engineering degree from the University of São Paulo in 1969, and his Ph.D. from the University of Vigo in 1996. Currently he is an Associate Professor in the Department of Systems Engineering and Control at the University of Vigo. His research focuses on control of underactuated nonlinear systems using passivity and on adaptive control.
Antonio Barreiro received his Industrial Engineering and Ph.D. degrees from the Polytechnic University of Madrid (UPM) in 1984 and 1989, respectively. From 1984 to 1987 he was with the Department of Applied Mathematics at the UPM. Since 1987 he has been with the Department of Systems Engineering and Control at the University of Vigo, where he is now a Professor in the area of Automatic Control. His research interests include nonlinear and robust stability, time-delay systems and reset control, with applications in networked control and teleoperation systems.
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Villaverde, A.F., Raimúndez, C. & Barreiro, A. Passive internet-based crane teleoperation with haptic aids. Int. J. Control Autom. Syst. 10, 78–87 (2012). https://doi.org/10.1007/s12555-012-0109-y
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DOI: https://doi.org/10.1007/s12555-012-0109-y