Motion control of excavator with tele-operated system

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

Research output: Contribution to conferencePaperpeer-review

6 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
Pages341-347
Number of pages7
Publication statusPublished - 2009
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

Keywords

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

ASJC Scopus subject areas

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

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