Abstract
Control of loading crane using conventional control methods is a difficult task, demanding adequate training and practice. Developed algorithms for crane controlling in Cartesian coordinates much facilitate the material reloading process. We propose an innovative method of machine control that uses the basic way of human interacting with the world, which is the sense of touch. Through the movement of the human upper limb and its contact with the control device bilateral teleoperation will be carried out between the operator and the crane. Interactive 7-DOF Motion controller of the operator arm (ExoArm 7-DOF) increases operator’s ability to interact with the machine. The designed device for scanning operator movement provides information to the operator about the load limits and crane movement range by force feedback. The article presents the ExoArm 7-DOF kinematics structure correlated with kinematic of human upper limb, as well as the mechanical model of the solution.
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Acknowledgements
This project is financed by the National Centre for Research and Development, Poland (NCBiR), under the Applied Research Programme—Grant agreement No. PBS3/A6/28/2015.
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Herbin, P., Pajor, M. (2018). ExoArm 7-DOF (Interactive 7-DOF Motion Controller of the Operator Arm) Master Device for Control of Loading Crane. In: Hamrol, A., Ciszak, O., Legutko, S., Jurczyk, M. (eds) Advances in Manufacturing. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-68619-6_42
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DOI: https://doi.org/10.1007/978-3-319-68619-6_42
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Online ISBN: 978-3-319-68619-6
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