Telerobotic Handling System
- Early Production Photos
The photo at left shows the telerobotic arm in the final stages of production. The hydraulic power unit, or "HPU" can be seen mounted on the crane pedestal.
This photo shows the operator's chair in final production. The operator's chair can be converted from replica (master-slave) control (shown here) to joystick (velocity) control in just a few minutes. The chair is fully adjustable to accommodate a variety of operators and working conditions.
The replica (master-slave) controller is shown here in the testing stage. With this input device, crane motion matches that of the replica. Force-feedback will maintain positional correspondence between the master and slave in phase.
The Velocity Input Device, or joystick, is shown here in the testing stage. With this input device, crane motion corresponds to changes in direction of the joystick motion, which is controlled by the operator's hand rather than his arm. This input method therefore requires less movement on the part of the operator than the replica device.
The Auxiliary Control Module (ACM) is shown here. The ACM is required for both the Velocity and the Position Input Devices. With it, the operator controls any required functions that do not pertain directly to crane movement; this allows one hand to be designated as sole control over crane movement.
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URL: http://www.brooke-ocean.com/thsphoto.html (Last Updated: Oct 09, 2007)