Virtual environment teleoperation of a hydraulic forestry crane

Westerberg, Simon; Manchester, Ian R.; Mettin, Uwe; Hera, Pedro La; Shiriaev, Anton S.

doi:10.1109/robot.2008.4543833

Cited by 23 publications

(14 citation statements)

References 10 publications

(8 reference statements)

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“…Other related work includes using the proposed lowlevel in concert with higher-level control schemes, such as semi-autonomous teleoperation systems (see, e.g., [3]), and fully-autonomous systems based on optimized motion planning.…”

Section: Discussionmentioning

confidence: 99%

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Identification and Control of a Hydraulic Forestry Crane

Hera

Mettin

Manchester

et al. 2008

IFAC Proceedings Volumes

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This article presents the identification and control of an electro-hydraulic crane. The crane is of the type used on forestry vehicles known as forwarders, which travel off-road collecting logs cut by the harvesters. The dynamics identified include significant frictional forces, dead zones, and structural and hydraulic vibrations. The control algorithm proposed, comprised of a linear controller and a compensator for nonlinearities, is able to accurately track a reference trajectory for the end effector, despite uncertainties in the arm mechanics and hydraulic system dynamics. A further control design is presented which uses an inner loop to compensate for vibrations in the hydraulic system, and its performance is experimentally verified.

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Section: Discussionmentioning

confidence: 99%

“…These can then be used in concert with high-level motion planners and teleoperation systems, e.g. [3].…”

Section: Introductionmentioning

confidence: 99%

Identification and Control of a Hydraulic Forestry Crane

Hera

Mettin

Manchester

et al. 2008

IFAC Proceedings Volumes

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“…In our case, we instead use a method based on pseudo-inverse Jacobian control for real-time planning that is standard in robotic applications. This method is described in further detail in Westerberg, Manchester, Mettin, La Hera, & Shiriaev (2008).…”

Section: Real-time Motion Planning and Controlmentioning

confidence: 99%

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Westerberg

Shiriaev

2013

Journal of Human-Robot Interaction

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Virtual environment-assisted teleoperation has great potential as a human-robot interaction paradigm for field robotic systems, in particular when combined with elements of automation. Unstructured outdoor environments present a complex problem with many challenging elements. For the specific application of forestry machines, we investigate which steps are required in order to implement such a system, what potential benefits there are, and how individual components can be adapted to efficiently assist forestry machine operators in their daily work in the near future. An experimental prototype of a teleoperation system with virtual environment-based feedback is constructed using a scenario-based design process. The feasibility of the implementation is partly verified through experimental studies.

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“…Recently, various scenarios of controlling hydraulic manipulation tasks were reported [6], [9], [10], [14], in which the problem of planning time-optimal trajectories, controller design and automation subject to a limited number of sensing devices are discussed. The experimental verification of such work was carried out on a manipulator installed at the Department of Applied Physics and Electronics, Umeå University, which is a slightly downsized version of a typical forwarder crane but similar in configuration and dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…Introducing new interaction methods and virtual environment (VE) technology may be helpful in such a scenario [14]. However, a key issue is realization of reliable open-loop control of manipulators for a particular series.…”

Section: Introductionmentioning

confidence: 99%

Open-loop control experiments on driver assistance for crane forestry machines

Morales

Westerberg

Hera

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-A short term goal in the forest industry is semiautomation of existing machines for the tasks of logging and harvesting. One way to assist drivers is to provide a set of predefined trajectories that can be used repeatedly in the process. In recent years much effort has been directed to the design of control strategies and task planning as part of this solution. However, commercialization of such automatic schemes requires the installation of various sensing devices, computers and most of all a redesign of the machine itself, which is currently undesired by manufacturers. Here we present an approach of implementing predefined trajectories in an open-loop fashion, which avoids the complexity of sensor and computer integration. The experimental results are carried out on a commercial hydraulic crane to demonstrate that this solution is feasible in practice.

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Virtual environment teleoperation of a hydraulic forestry crane

Cited by 23 publications

References 10 publications

Identification and Control of a Hydraulic Forestry Crane

Identification and Control of a Hydraulic Forestry Crane

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Open-loop control experiments on driver assistance for crane forestry machines

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