Excavator tele-operation system using a human arm
Excavator tele-operation system using a human arm
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DOI：
10.1016/j.autcon.2008.07.002
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发表时间：
2009-03
影响因子：
10.3
通讯作者：
Dongmok Kim;Jongwon Kim;Kyo-II Lee;Cheol-Woo Park;Jinsuk Song;D. Kang
中科院分区：
文献类型：
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作者：
Dongmok Kim;Jongwon Kim;Kyo-II Lee;Cheol-Woo Park;Jinsuk Song;D. Kang
对于没有经验的人来说，操作和操纵机械挖掘机是很困难的。要获得操作挖掘机整体摆动运动以及动臂、斗杆和铲斗运动所需的技能，需要经过一个漫长的学习过程。此外，在倾斜平面上操作此类挖掘机是危险的，因为这可能导致不稳定并使操作员面临巨大风险。在本研究中，为挖掘机开发了一种简单的轻型远程操作系统来解决这些问题。三个传感器安装在操作员的手臂上，以检测他的动作。挖掘机执行器的操作命令将通过蓝牙无线通信传输。与使用力反馈机制的典型触觉设备相比，开发的新远程操作系统简单、经济高效且重量更轻。运行算法经过多次测试用例的修改和验证。在测试之前，算法已使用视觉模拟器 OpenGL 进行了验证。开发了方便、安全地操作挖掘机的操作系统，并通过测试验证了控制算法。
It is difficult, for those without experience, to operate and manipulate a mechanical excavator. There is a long learning process to gain the skills required in operating the excavator's overall swing motions as well as movements of its boom, arm and bucket. In addition it is dangerous to operate such excavators on an inclined plane as this can lead to instability and puts the operator at great risk. In this study, a simple light weight tele-operation system has been developed for the excavator for dealing with these problems. Three sensors are attached to the operator's arm, in order to detect his movements. The operating commands for the actuators of an excavator will be transmitted via Bluetooth wireless communications. The new tele-operation system developed is simple, cost effective and lighter compared to typical haptic devices using a force feedback mechanisms. The operating algorithm has been modified and verified in many test cases. Prior to testing, the algorithms have been verified using the visual simulator, OpenGL. The operating system to operate the excavator easily and safely is developed and the control algorithm verified by tests.