Entwicklung eines Teleoperating-Systems mit Kraftrückkopplung für ein Kettenfahrzeug

Translated title of the contribution: Development of a Teleoperating-system with force- feedback for a tracked vehicle

Robert Diosi

Research output: ThesisDiploma Thesispeer-review

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Abstract

Teleoperating-systems can be used to control machines where a human operator is indispensable. The user of the system is situated out of the danger zone and can make decisions depending on the movements of the machine as viewed on a suitable video transmission. In particular, Teleoperating-systems can be used for mining machines, in order to protect the operator‘s health without affecting the controlling task. Due to the missing haptic perception, the user can overload the machine which can result in damage to the plant. A Teleoperating-system has been developed for a tracked vehicle with an implementation of force-feedback to prevent failures of the facility and to convey haptic impressions of the forces on the mining machine to the operator. Distances to obstacles are measured with sensors in order to avoid collisions. Thereafter virtual forces are used to model the measured distances, and applied to the input device ( joystick ). For this project an existing tracked vehicle with its own controller was extended by a remote image-transmission and data-transmission to a supervisory control-system. The control of the tracked vehicle is realised by a standard joystick with force-feedback capabilities. For the extension of the camera-view a swivel system was developed where the orientation can be changed from the controlling-station. All hardware components are co-ordinated by an especially designed software and is connected to a functioning Teleoperating-system.
Translated title of the contributionDevelopment of a Teleoperating-system with force- feedback for a tracked vehicle
Original languageGerman
QualificationDipl.-Ing.
Awarding Institution
  • Montanuniversität
Supervisors/Advisors
  • O'Leary, Paul, Supervisor (internal)
Publication statusPublished - 19 Mar 1999

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