Publications / 2010 Proceedings of the 27th ISARC, Bratislava, Slovakia

Design of Haptic Device for Excavator with Pressure Transmitter

Dongnam Kim, Kyeong Won Oh, Namhoon Kim, Baeksuk Chu, Daehie Hong, Yoon Ki Kim, Suk-Hie Hong
Pages 147-154 (2010 Proceedings of the 27th ISARC, Bratislava, Slovakia, ISBN 978-80-7399-974-2, ISSN 2413-5844)

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 haptic control is proposed for the remote control of excavator-like dismantling equipment. As a haptic device system, this controller is designed to improve the operability of the excavator. This paper also includes all the dynamic analysis of excavator to design the haptic device. Then, the hydraulic system of excavator which uses the proportional valve and pressure transmitter is also studied briefly. And parameter estimation of excavator is carried out with least square method. Last simulation result which is about the parameter estimation will be shown. And operator can control the real excavator intuitively with this new model of haptic device.

Keywords: Excavator Control, Haptic Device, Dynamics, Parameter Estimation