Design of a haptic device for dismantling processes using excavator

Dongnam Kim, Kyeongwon Oh, Daehie Hong, Jong Hyup Park, Suk Hie Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Since the processes of dismantling are very dangerous, there have been many studies to develop remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling equipment that is usually an excavator, a novel concept of tele-operated haptic device is proposed. Operators who use this haptic device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the haptic device, its workspace is analyzed and the workspace mapping from the haptic device to the excavator is explored. Second, after 7 steps of the excavating processes are defined, the kinematics which deals with the conversion from the 3 dimensional position information of the haptic device to the joint variable information of the backhoe is included in this paper. Lastly, 3D graphical simulation of both haptic device and the backhoe will be shown. This new design of the haptic device can be easily manufactured and gives the workers very convenient and transparent remote control capability.

Original languageEnglish
Title of host publicationAutomation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
Pages175-180
Number of pages6
Publication statusPublished - 2007
Event24th International Symposium on Automation and Robotics in Construction, ISARC 2007 - Kochi, India
Duration: 2007 Sep 192007 Sep 21

Publication series

NameAutomation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction

Other

Other24th International Symposium on Automation and Robotics in Construction, ISARC 2007
CountryIndia
CityKochi
Period07/9/1907/9/21

Keywords

  • Dismantling process
  • Excavator
  • Haptic device
  • Inverse kinematics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Building and Construction

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  • Cite this

    Kim, D., Oh, K., Hong, D., Park, J. H., & Hong, S. H. (2007). Design of a haptic device for dismantling processes using excavator. In Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction (pp. 175-180). (Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction).