EXPERIMENTAL STUDY ON HYDRAULIC SIGNAL COMPENSATION FOR THE APPLICATION OF A HAPTIC INTERFACE TO A TELE-OPERATED EXCAVATOR

摘要

Excavators are widely used in public works and construction sites. Semi-automated or automated excavators are also being developed. They are used for very dangerous tasks such as building dismantlement and disaster restoration. Under difficult circumstances, it is more efficient to use an excavator operated with a remote control system. Many researches are underway to develop this kind of system. Conventional remote control systems have been mostly dependent on two-dimensional images. In this study, this system was used, which made it difficult to measure the depth of the excavation location and it took a long time to complete the work. That is why there have not been many practical cases of utilization of tele-operated excavators. Because of these limitations, the haptic technology is proposed that enables recognition of bucket-reflected force and its passing on to the operator. The research was conducted to overcome these difficulties of using two-dimensional images, by developing a force-feedback joystick that efficiently detects the underground condition and applies it to a tele-operated excavator.