Kyeong Won Oh

The Virtual Environment for Force-Feedback Experiment of Excavator Using a Novel Designed Haptic Device

ABSTRACT: This paper describes an approach force-feedback of excavator which is considered for tele-operation using a novel designed haptic device in virtual environment. This study has two main themes, the newly designed haptic device and force-feedback algorithm in virtual environment for excavator. The device can be controlled by human arm joint. Using the device, motion of boom, arm and bucket is controlled by operator’s elbow, wrist and metacarpophalangeal(MCP) joint. The motion of a novel haptic device is very similar to excavator. So, it is very intuitive and operator can control the device easily, even if they use it for the first time. It is a marked contrast between commercial haptics and this device. And then, 3D virtual environment is modeled for the force-feedback experiment using OpenGL program and 3D graphical simulations are extensively performed. The haptic offer force-feedback to operator exerted on each link of excavator during the performing various operation with DC motors. In this case, the force, which is forced by DC motor for feedback, is different as purpose of excavator and type of working. In order to increase the efficiency of operation and the protection of equipment, it is necessary to detect the reaction forces.

Design of Haptic Device for Excavator with Pressure Transmitter

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.

Remote control of excavator with designed haptic device

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 haptic device is proposed for the remote control of an excavator-like dismantling equipment. As a haptic device, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the haptic device. In order to explore the feasibility of the device, modeling of the haptic device is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. Lastly, motion control simulations to the real excavator working at construction site are conducted. As a result, before manufacturing the real haptic device, 3D graphical model of haptic device is proposed to confirm the feasibility of the developed haptic device. And operator can control the real excavator intuitively with this new model of haptic device.

Motion Control of Excavator with Tele-Operated System

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.