Journal
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
Volume 14, Issue 2, Pages 223-230Publisher
KOREAN SOC PRECISION ENG
DOI: 10.1007/s12541-013-0031-0
Keywords
Bilateral control; Demolition; Excavator; Haptic; Wave-variable method
Funding
- National Research Foundation of Korea (NRF)
- Ministry of Education, Science and Technology [2012-0000792]
- Human Resources Development program, Korea Institute of Energy Technology Evaluation and Planning (KETEP) [20124010203250]
- Korea government Ministry of Knowledge Economy
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As many high-rise buildings have been dismantled or demolished, researchers have developed many new deconstruction methods and devices. Among these, excavators equipped with attachments such as crushers or breakers have been most widely used on many deconstruction sites. This paper introduces a novel design and control algorithm of haptic devices that can be used to control excavators from a remote site. The newly designed remote control device is well matched with the excavator kinematics, so that it can be intuitively controlled by even a novice operator. The device also provides haptic sensation to the operator through force-feedback from the excavator. This grants the operator a better feeling of the tele-operated excavator and helps to avoid dangerous situations. In order to develop the tele-operation algorithm, this paper analyzes the force-feedback mechanism based on excavator kinematics and dynamics. A bilateral tele-operation control is then derived using the wave-variable method. The feasibility of this haptic device is verified through field tests.
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