Development of crane tele-operation system using laser pointer interface

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

doi:10.1109/IROS.2013.6697146

Development of crane tele-operation system using laser pointer interface

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

ENG - Robotics

Chuo University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

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 language	English
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	5457-5462
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2013.6697146
Publication status	Published - 2013
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 2013 Nov 3 → 2013 Nov 8

Publication series

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

Conference

Conference	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/Territory	Japan
City	Tokyo
Period	13/11/3 → 13/11/8

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10.1109/IROS.2013.6697146

Cite this

Negishi, M., Osumi, H., Saito, K., Masuda, H., & Tamura, Y. (2013). Development of crane tele-operation system using laser pointer interface. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5457-5462). Article 6697146 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6697146

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title = "Development of crane tele-operation system using laser pointer interface",

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.",

author = "Masaki Negishi and Hisasi Osumi and Keiichirou Saito and Hikaru Masuda and Yusuke Tamura",

year = "2013",

doi = "10.1109/IROS.2013.6697146",

language = "English",

isbn = "9781467363587",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "5457--5462",

booktitle = "IROS 2013",

note = "2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference date: 03-11-2013 Through 08-11-2013",

}

Negishi, M, Osumi, H, Saito, K, Masuda, H & Tamura, Y 2013, Development of crane tele-operation system using laser pointer interface. in IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6697146, IEEE International Conference on Intelligent Robots and Systems, pp. 5457-5462, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 13/11/3. https://doi.org/10.1109/IROS.2013.6697146

Development of crane tele-operation system using laser pointer interface. / Negishi, Masaki; Osumi, Hisasi; Saito, Keiichirou et al.
IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 5457-5462 6697146 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Development of crane tele-operation system using laser pointer interface

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AU - Osumi, Hisasi

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N2 - 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.

AB - 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.

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Negishi M, Osumi H, Saito K, Masuda H, Tamura Y. Development of crane tele-operation system using laser pointer interface. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 5457-5462. 6697146. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2013.6697146

Development of crane tele-operation system using laser pointer interface

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