Development of crane tele-operation system using laser pointer interface

Masaki Negishi, Hisasi Osumi, Keiichirou Saito, Hikaru Masuda, Yusuke Tamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A teleoperation system for a crane is developed. The crane uses a small actuator and large actuator in each direction (x and y). The large actuator is controlled by input signals from a laser pointer interface, and the small actuator is used as a regulator and is feedback-controlled by a wire angle sensor. To avoid overshoots in the suspended object at the target point and to eliminate the effect of the trembling of the irradiated light by the laser pointer, the velocity commands sent to the large actuator are designed by accumulating cubic functions, each of which is based on the displacement of the irradiated light in a sampling period. The effectiveness of the developed control system and its control algorithm were verified through experimental results.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages5457-5462
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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