Publications / 2020 Proceedings of the 37th ISARC, Kitakyushu, Japan

An Assistive Interface of a Teleoperation System of an Excavator by Overlapping the Predicted Position of the Arm

Yuzuki Okawa, Masaru Ito, Ryota Sekizuka, Seiji Saiki, Yoichiro Yamazaki and Yuichi Kurita
Pages 74-78 (2020 Proceedings of the 37th ISARC, Kitakyushu, Japan, ISBN 978-952-94-3634-7, ISSN 2413-5844)

A teleoperated hydraulic excavator is introduced to per- form safe and quick restoration work in sites affected by disasters. However, the current efficiency of this system is approximately 40?60%, compared to boarding an actual hy- draulic excavator, because of the communication delay. To reduce this delay, we developed a system that can display the predicted position of the excavator attachment to the opera- tor. For predicting the movement of the hydraulic excavator relative to the lever input, it is necessary to consider the dynamic characteristics of the hydraulic excavator. In this study, the dynamic characteristics of the turning motion of the hydraulic excavator were assumed to be the first-order delay with a dead time system, followed by the construction of the turning motion simulator of the hydraulic excavator. Through an experiment in which the bucket tip was stopped toward the target position, the operational time was con- firmed to be significantly shortened by displaying the pre- dicted position.

Keywords: Teleoperated hydraulic excavator; Swinging motion; Interface; Communication delay