Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Dongnam | - |
dc.contributor.author | Oh, Kyeong Won | - |
dc.contributor.author | Lee, Chang Seop | - |
dc.contributor.author | Hong, Daehie | - |
dc.date.accessioned | 2021-09-06T04:48:16Z | - |
dc.date.available | 2021-09-06T04:48:16Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2013-02 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/104092 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC PRECISION ENG | - |
dc.subject | ENVIRONMENT | - |
dc.title | Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Hong, Daehie | - |
dc.identifier.doi | 10.1007/s12541-013-0031-0 | - |
dc.identifier.scopusid | 2-s2.0-84876520623 | - |
dc.identifier.wosid | 000313869700007 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.14, no.2, pp.223 - 230 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.title | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.volume | 14 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 223 | - |
dc.citation.endPage | 230 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001739504 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | ENVIRONMENT | - |
dc.subject.keywordAuthor | Bilateral control | - |
dc.subject.keywordAuthor | Demolition | - |
dc.subject.keywordAuthor | Excavator | - |
dc.subject.keywordAuthor | Haptic | - |
dc.subject.keywordAuthor | Wave-variable method | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.