Design of haptic device for excavator with pressure transmitter

Dongnam Kim, Kyeong Won Oh, Namhoon Kim, Baeksuk Chu, Daehie Hong, Yoon Ki Kim, Suk Hie Hong

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

1 Citation (Scopus)

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 languageEnglish
Title of host publication2010 - 27th International Symposium on Automation and Robotics in Construction, ISARC 2010
Pages147-154
Number of pages8
Publication statusPublished - 2010 Dec 1
Event27th International Symposium on Automation and Robotics in Construction, ISARC 2010 - Bratislava, Slovakia
Duration: 2010 Jun 252010 Jun 27

Other

Other27th International Symposium on Automation and Robotics in Construction, ISARC 2010
CountrySlovakia
CityBratislava
Period10/6/2510/6/27

Keywords

  • Dynamics
  • Excavator control
  • Haptic device
  • Parameter estimation

ASJC Scopus subject areas

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

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  • Cite this

    Kim, D., Oh, K. W., Kim, N., Chu, B., Hong, D., Kim, Y. K., & Hong, S. H. (2010). Design of haptic device for excavator with pressure transmitter. In 2010 - 27th International Symposium on Automation and Robotics in Construction, ISARC 2010 (pp. 147-154)