Cartesian coordinate control for teleoperated construction machines

Abstract Despite the continuous development of hardware, most construction machines are exclusively teleoperated limiting control to a single paradigm. The operators usually have move different joints machine in coordinated way solely relied on their experiences leading reduced local accuracy and work efficiency. Automation machinery can open up new possibilities improve efficiency safety during process. This introduces generic method that adapt been already used field for decades, so more intuitive versatile paradigm be allowed. We introduce system architecture with necessary hardware extension closed-loop inverse kinematic based motion controller implemented visual programming environment. In contrast existing works, which mostly developing entirely systems, an autonomous suited sites other hazardous environments obtained at effort. Because its low cost generality, this approach widely utilized industries opening combination advanced robotics technology proven from sites. present our first prototype BROKK 170 demolition highlight capabilities but also inherent limitations proposed method.