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Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method

Authors
Kim, DongnamOh, Kyeong WonLee, Chang SeopHong, Daehie
Issue Date
2월-2013
Publisher
KOREAN SOC PRECISION ENG
Keywords
Bilateral control; Demolition; Excavator; Haptic; Wave-variable method
Citation
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.14, no.2, pp.223 - 230
Indexed
SCIE
SCOPUS
KCI
Journal Title
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
Volume
14
Number
2
Start Page
223
End Page
230
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/104092
DOI
10.1007/s12541-013-0031-0
ISSN
2234-7593
Abstract
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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공과대학 (기계공학부)
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