Publications / 2012 Proceedings of the 29th ISARC, Eindhoven, Netherlands

Estimation with Applications to Dynamic Status of an Excavator without Renovation

Seunghoon Lee, Min-Sung Kang, Dong-Su Shin, Chang-Soo Han
Abstract:

Purpose Operators and drivers are easily exposed to danger by excavators is operating in dangerous places such as slopes, soft ground, building dismantling sites, distressed areas, and construction waste land-fills. For the safe use of conventional excavators as a tele-operated system without any renovation, feedback information of the boom, arm, and bucket cylinder should be estimated as a schematic of the excavator arms with the same of joint angles, respectively. There is a strong need for acquiring this information using the proposed sensor system and converting algorithm ena-bling each joint angle to be derive for a commercial excavator without any renovation and remodeling. Method This study provides kinematic and dynamic information of the excavator. The proposed sensing module, which derives joint angles set by IMU-sensors, is implemented in the excavator. Acquired and estimated data from the sensing module3 and true known value was compared through prototype demonstration4-5. Results & Discussion Detachable sensor mod-ules and robotic manipulators were installed in an excavator; a field test verified the feasibility of implementing the pro-posed estimation method.

Keywords: robotics, sensing mechanism, estimation, installation type tele-operated excavator