Motion Control of Excavator with Tele-Operated System
نویسندگان
چکیده
The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying tele-operated device is proposed for the remote control of excavator-like dismantling equipment. As a tele-operated system, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the tele-operated system. In order to explore the feasibility of the device, modeling of the tele-operated system is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. And basic motion control simulations to the real excavator working at construction site are conducted with designed tele-operated system. And operator can control the real excavator intuitively with this new model of tele-operated system.
منابع مشابه
The Virtual Environment for Force-feedback Experiment of Excavator Using a Noveldesigned Haptic Device
ABSTRACT: This paper describes an approach force-feedback of excavator which is considered for tele-operation using a novel designed haptic device in virtual environment. This study has two main themes, the newly designed haptic device and force-feedback algorithm in virtual environment for excavator. The device can be controlled by human arm joint. Using the device, motion of boom, arm and buc...
متن کاملEstimation with applications to dynamic status of an excavator without renovation
Purpose Operators and drivers are easily exposed to danger by excavators is operating in dangerous places such as slopes, soft ground, building dismantling sites, distressed areas, and construction waste land-fills. For the safe use of conventional excavators as a tele-operated system without any renovation, feedback information of the boom, arm, and bucket cylinder should be estimated as a sch...
متن کاملOptimal Path Planning for Backhoe Based on Excavation Environment
The paper focuses on the establishment of optimized bucket path planning using numerical solution method, for a force-reflecting backhoe which is affected by excavation environment including potential obstacles. The developed path planning method can be used for precise bucket control and more importantly for obstacle avoidance which is directly related to safety issues. An optimal path plannin...
متن کاملA Behaviour-Based Integration of Fully Autonomous, Semi-Autonomous, and Tele-Operated Control Modes for an Off-Road Robot
This paper describes a concept for a behaviour-based integration of tele-operator commands into the control system of a mobile robot. The control system presented features different control modes which allow for pure tele-operation, assisted tele-operation, and fully autonomous navigation. It is explained how the tele-operator can influence the robot’s motion at any time and how he can simply a...
متن کاملSticky and slippery collision avoidance for tele-excavation
Two n e w modes of real-t ime collision avoidance are presented wh.ich aid in the e.ffectiveness of remote tele-operation. S t i cky coll ision mode improves s y s t e m safety by disallowing contact wi th modelled obstacles. Slippery mode is used t o improve the eff iciency of -the process by reducing t h e required level of operator skill. B o t h modes execute an real-t ime and have been amp...
متن کامل