The virtual environment for force-feedback experiment of excavator using a novel designed haptic device

Kyeong Won Oh, Dongnam Kim, Nam Hoon Kim, Daehie Hong

Research output: Contribution to conferencePaperpeer-review

9 Citations (Scopus)

Abstract

This paper describes an approach force-feedback of excavator which is considered for tele-operation using a novel designed haptic device in virtual environment. This study has two main themes, the newly designed haptic device and force-feedback algorithm in virtual environment for excavator. The device can be controlled by human arm joint. Using the device, motion of boom, arm and bucket is controlled by operator's elbow, wrist and metacarpophalangeal (MCP) joint. The motion of a novel haptic device is very similar to excavator. So, it is very intuitive and operator can control the device easily, even if they use it for the first time. It is a marked contrast between commercial haptics and this device. And then, 3D virtual environment is modeled for the force-feedback experiment using OpenGL program and 3D graphical simulations are extensively performed. The haptic offer force-feedback to operator exerted on each link of excavator during the performing various operation with DC motors. In this case, the force, which is forced by DC motor for feedback, is different as purpose of excavator and type of working. In order to increase the efficiency of operation and the protection of equipment, it is necessary to detect the reaction forces.

Original languageEnglish
Pages51-56
Number of pages6
DOIs
Publication statusPublished - 2011
Event28th International Symposium on Automation and Robotics in Construction, ISARC 2011 - Seoul, Korea, Republic of
Duration: 2011 Jun 292011 Jul 2

Other

Other28th International Symposium on Automation and Robotics in Construction, ISARC 2011
CountryKorea, Republic of
CitySeoul
Period11/6/2911/7/2

Keywords

  • Excavator
  • Haptic device
  • Virtual environment

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'The virtual environment for force-feedback experiment of excavator using a novel designed haptic device'. Together they form a unique fingerprint.

Cite this