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Shared-Control Concepts for Large Vehicle-Manipulators

Varga, Balint; Burkhardt, Yannick; Schwab, Stefan; Hohmann, Soren

Abstract (englisch):
This paper presents two novel methods to generate haptic feedback for a human operating a large, hydraulic vehiclemanipulator. Such manipulators can be found in a wide range of applications (e.g. farming works, roadside maintenance, forestry applications). In general, they are controlled solely by a human operator, as the automation of such systems is too challenging due to their unstructured working environment. The work with such manipulators is often physically and psychologically demanding. In the presence of obstacles or other restrictions in the working area, haptic feedback can help to relieve the operator and increase his awareness. If the vehicle platform additionally moves during the operating process, state-of-the-art methods cannot be directly applied to generate haptic feedback. Therefore, we propose two shared-control concepts, based on potential field methods supporting the operator during his task. The first one is a modified trajectory guidance approach. The second one is a directly generated feedback approach, which does not compute a desired joystick position, but directly the haptic feedback. Both proposed methods do not need the reference trajectory of the manipulator, only the detected obstacles as a set of points. ... mehr

DOI: 10.1109/ISIE45063.2020.9152208
Zugehörige Institution(en) am KIT Institut für Regelungs- und Steuerungssysteme (IRS)
Publikationstyp Proceedingsbeitrag
Publikationsmonat/-jahr 06.2020
Sprache Englisch
Identifikator ISBN: 978-1-72815-635-4
KITopen-ID: 1000122598
Erschienen in 2020 IEEE 29th International Symposium on Industrial Electronics (ISIE)
Veranstaltung 29th IEEE International Symposium on Industrial Electronics (2020), Delft, Niederlande, 17.06.2020 – 19.06.2020
Verlag IEEE
Seiten 197–203
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