Motion control of excavator with tele-operated system

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

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

5 Citations (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 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.

Original languageEnglish
Title of host publication2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009
Pages341-347
Number of pages7
Publication statusPublished - 2009 Dec 1
Event2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009 - Austin, TX, United States
Duration: 2009 Jun 242009 Jun 27

Other

Other2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009
CountryUnited States
CityAustin, TX
Period09/6/2409/6/27

Fingerprint

Excavators
Motion control
Controllers
Remote control
Kinematics
Hydraulics

Keywords

  • Dismantling process
  • Excavator
  • Haptic device
  • Hydraulic system
  • Inverse kinematics

ASJC Scopus subject areas

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

Cite this

Kim, D., Oh, K. W., Hong, D., Kim, Y. K., & Hong, S. H. (2009). Motion control of excavator with tele-operated system. In 2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009 (pp. 341-347)

Motion control of excavator with tele-operated system. / Kim, Dongnam; Oh, Kyeong Won; Hong, Daehie; Kim, Yoon Ki; Hong, Suk Hie.

2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009. 2009. p. 341-347.

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

Kim, D, Oh, KW, Hong, D, Kim, YK & Hong, SH 2009, Motion control of excavator with tele-operated system. in 2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009. pp. 341-347, 2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009, Austin, TX, United States, 09/6/24.
Kim D, Oh KW, Hong D, Kim YK, Hong SH. Motion control of excavator with tele-operated system. In 2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009. 2009. p. 341-347
Kim, Dongnam ; Oh, Kyeong Won ; Hong, Daehie ; Kim, Yoon Ki ; Hong, Suk Hie. / Motion control of excavator with tele-operated system. 2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009. 2009. pp. 341-347
@inproceedings{3a9e80161b444b118b1d2a40a1f96c60,
title = "Motion control of excavator with tele-operated system",
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 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.",
keywords = "Dismantling process, Excavator, Haptic device, Hydraulic system, Inverse kinematics",
author = "Dongnam Kim and Oh, {Kyeong Won} and Daehie Hong and Kim, {Yoon Ki} and Hong, {Suk Hie}",
year = "2009",
month = "12",
day = "1",
language = "English",
pages = "341--347",
booktitle = "2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009",

}

TY - GEN

T1 - Motion control of excavator with tele-operated system

AU - Kim, Dongnam

AU - Oh, Kyeong Won

AU - Hong, Daehie

AU - Kim, Yoon Ki

AU - Hong, Suk Hie

PY - 2009/12/1

Y1 - 2009/12/1

N2 - 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.

AB - 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.

KW - Dismantling process

KW - Excavator

KW - Haptic device

KW - Hydraulic system

KW - Inverse kinematics

UR - http://www.scopus.com/inward/record.url?scp=84863770469&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84863770469&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84863770469

SP - 341

EP - 347

BT - 2009 26th International Symposium on Automation and Robotics in Construction, ISARC 2009

ER -