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

企鹅自动化系统公司，位于安大略省萨德伯里，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。该公司特别为采矿业开发机器人和自动化解决方案。采矿业仍然是一个危险的职业，不幸的是，落石和移动设备造成的伤害仍然很常见。对人类构成重大危险的作业之一是人工放置/拆除爆炸物。危险来自于这样一个事实，即人工爆炸物放置/拆除操作必须在密闭空间内进行，人类工人非常接近活动的采矿工作面、坚固的隧道壁和可能的液压设备。因此，开发机器人技术，使人们能够在不派人进入矿井的情况下进行爆炸物的放置/拆除，具有很大的意义。特别是，高性能远程机器人系统，

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