Abstract
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 haptic control is proposed for the remote control of excavator-like dismantling equipment. As a haptic device system, this controller is designed to improve the operability of the excavator. This paper also includes all the dynamic analysis of excavator to design the haptic device. Then, the hydraulic system of excavator which uses the proportional valve and pressure transmitter is also studied briefly. And parameter estimation of excavator is carried out with least square method. Last simulation result which is about the parameter estimation will be shown. And operator can control the real excavator intuitively with this new model of haptic device.
| Original language | English |
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| Title of host publication | 2010 - 27th International Symposium on Automation and Robotics in Construction, ISARC 2010 |
| Pages | 147-154 |
| Number of pages | 8 |
| Publication status | Published - 2010 Dec 1 |
| Event | 27th International Symposium on Automation and Robotics in Construction, ISARC 2010 - Bratislava, Slovakia Duration: 2010 Jun 25 → 2010 Jun 27 |
Other
| Other | 27th International Symposium on Automation and Robotics in Construction, ISARC 2010 |
|---|---|
| Country | Slovakia |
| City | Bratislava |
| Period | 10/6/25 → 10/6/27 |
Keywords
- Dynamics
- Excavator control
- Haptic device
- Parameter estimation
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Building and Construction