Remote control of excavator with designed haptic device

Dongnam Kim, Kyeong Won Oh, Daehie Hong, Jong Hyup Park, Suk Hie Hong

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

8 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 haptic device is proposed for the remote control of an excavator-like dismantling equipment. As a haptic device, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the haptic device. In order to explore the feasibility of the device, modeling of the haptic device is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. Lastly, motion control simulations to the real excavator working at construction site are conducted. As a result, before manufacturing the real haptic device, 3D graphical model of haptic device is proposed to confirm the feasibility of the developed haptic device. And operator can control the real excavator intuitively with this new model of haptic device.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages1830-1834
Number of pages5
DOIs
Publication statusPublished - 2008
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 142008 Oct 17

Publication series

Name2008 International Conference on Control, Automation and Systems, ICCAS 2008

Other

Other2008 International Conference on Control, Automation and Systems, ICCAS 2008
CountryKorea, Republic of
CitySeoul
Period08/10/1408/10/17

Keywords

  • Dismantling process
  • Excavator
  • Haptic device
  • Hydraulic system
  • Sensor fusion

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Kim, D., Oh, K. W., Hong, D., Park, J. H., & Hong, S. H. (2008). Remote control of excavator with designed haptic device. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 1830-1834). [4694397] (2008 International Conference on Control, Automation and Systems, ICCAS 2008). https://doi.org/10.1109/ICCAS.2008.4694397