Benefits of haptic feedback and impedance control for teleoperated placement/dismantling of explosives in mining industry

位于安大略州萨德伯里的企鹅自动化系统公司是一家领先的研究、开发和原型公司，为地下、水下、太空和地面应用提供全面的机器人和自动化解决方案。特别是，该公司为采矿业开发机器人和自动化解决方案。采矿仍然是一种危险的职业，不幸的是，坠石和移动设备造成的伤害仍然非常常见。对人类构成重大危险的作业之一是手工放置/拆除爆炸物。危险来自这样一个事实，即人工放置/拆除炸药的作业必须在密闭空间内进行，工人必须非常接近正在开采的工作面、坚固的隧道墙壁，可能还有液压设备。因此，开发能够在不让人进入地雷的情况下执行爆炸物放置/拆除的机器人技术是非常有意义的。特别是，高性能遥控机器人系统具有

Penguin Automated Systems Inc., located in Sudbury, ON., is a leading research, development and prototyping company providing comprehensive robotic and automation solutions for underground, underwater, in-space and on-surface applications. In particular, the company develops robotics and automation solutions for mining industry. Mining remains a hazardous profession where injuries from rockfalls and moving equipment unfortunately are still very common. One of the operations that presents substantial danger for the humans is the manual placement/dismantling of explosives. The danger comes from the fact that the manual explosive placement/dismantling operations have to be performed inside confined spaces with close proximity of the human workers to the active mining face, solid tunnel walls, and possibly hydraulic equipment. Development of robotic technologies that allow for execution of the explosive placement/dismantling without sending humans inside the mine is therefore of great interest. In particular, high-performance telerobotic systems with