Abstract
As many high-rise buildings have been dismantled or demolished, researchers have developed many new deconstruction methods and devices. Among these, excavators equipped with attachments such as crushers or breakers have been most widely used on many deconstruction sites. This paper introduces a novel design and control algorithm of haptic devices that can be used to control excavators from a remote site. The newly designed remote control device is well matched with the excavator kinematics, so that it can be intuitively controlled by even a novice operator. The device also provides haptic sensation to the operator through force-feedback from the excavator. This grants the operator a better feeling of the tele-operated excavator and helps to avoid dangerous situations. In order to develop the tele-operation algorithm, this paper analyzes the force-feedback mechanism based on excavator kinematics and dynamics. A bilateral tele-operation control is then derived using the wave-variable method. The feasibility of this haptic device is verified through field tests.
| Original language | English |
|---|---|
| Pages (from-to) | 223-230 |
| Number of pages | 8 |
| Journal | International Journal of Precision Engineering and Manufacturing |
| Volume | 14 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2013 Apr 29 |
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Keywords
- Bilateral control
- Demolition
- Excavator
- Haptic
- Wave-variable method
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method. / Kim, Dongnam; Oh, Kyeong Won; Lee, Chang Seop; Hong, Daehie.
In: International Journal of Precision Engineering and Manufacturing, Vol. 14, No. 2, 29.04.2013, p. 223-230.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method
AU - Kim, Dongnam
AU - Oh, Kyeong Won
AU - Lee, Chang Seop
AU - Hong, Daehie
PY - 2013/4/29
Y1 - 2013/4/29
N2 - As many high-rise buildings have been dismantled or demolished, researchers have developed many new deconstruction methods and devices. Among these, excavators equipped with attachments such as crushers or breakers have been most widely used on many deconstruction sites. This paper introduces a novel design and control algorithm of haptic devices that can be used to control excavators from a remote site. The newly designed remote control device is well matched with the excavator kinematics, so that it can be intuitively controlled by even a novice operator. The device also provides haptic sensation to the operator through force-feedback from the excavator. This grants the operator a better feeling of the tele-operated excavator and helps to avoid dangerous situations. In order to develop the tele-operation algorithm, this paper analyzes the force-feedback mechanism based on excavator kinematics and dynamics. A bilateral tele-operation control is then derived using the wave-variable method. The feasibility of this haptic device is verified through field tests.
AB - As many high-rise buildings have been dismantled or demolished, researchers have developed many new deconstruction methods and devices. Among these, excavators equipped with attachments such as crushers or breakers have been most widely used on many deconstruction sites. This paper introduces a novel design and control algorithm of haptic devices that can be used to control excavators from a remote site. The newly designed remote control device is well matched with the excavator kinematics, so that it can be intuitively controlled by even a novice operator. The device also provides haptic sensation to the operator through force-feedback from the excavator. This grants the operator a better feeling of the tele-operated excavator and helps to avoid dangerous situations. In order to develop the tele-operation algorithm, this paper analyzes the force-feedback mechanism based on excavator kinematics and dynamics. A bilateral tele-operation control is then derived using the wave-variable method. The feasibility of this haptic device is verified through field tests.
KW - Bilateral control
KW - Demolition
KW - Excavator
KW - Haptic
KW - Wave-variable method
UR - http://www.scopus.com/inward/record.url?scp=84876520623&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84876520623&partnerID=8YFLogxK
U2 - 10.1007/s12541-013-0031-0
DO - 10.1007/s12541-013-0031-0
M3 - Article
AN - SCOPUS:84876520623
VL - 14
SP - 223
EP - 230
JO - International Journal of Precision Engineering and Manufacturing
JF - International Journal of Precision Engineering and Manufacturing
SN - 1229-8557
IS - 2
ER -