Publications / 2009 Proceedings of the 26th ISARC, Austin, USA

Motion Control of Excavator with Tele-Operated System

Dongnam Kim, Kyeong Won Oh, Daehie Hong, Yoon Ki Kim, Suk-Hie Hong
Pages 341-347 (2009 Proceedings of the 26th ISARC, Austin, USA, ISBN 978-0-578-02312-0, 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 tele-operated device is proposed for the remote control of excavator-like dismantling equipment. As a tele-operated system, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the tele-operated system. In order to explore the feasibility of the device, modeling of the tele-operated system is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. And basic motion control simulations to the real excavator working at construction site are conducted with designed tele-operated system. And operator can control the real excavator intuitively with this new model of tele-operated system.

Keywords: Haptic Device, Excavator, Inverse Kinematics, Dismantling Process, Hydraulic System