Teleoperation system of power shovel for subterranean line works

Kazuhiro Kosuge, Koji Takeo, Hirokazu Ishida

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)

Abstract

This paper proposes a teleoperation system for hydraulic excavator which is used for subterranean line works. We design a teleoperation system based on velocity-based force control algorithm so that the excavator will not damage existing under ground equipments. To cope with external force due to excavation, we introduce non-linear force feedback block. We also introduce saturation block at the input from operator so that the operator's inappropriate input could be rejected. The proposed teleoperation system is experimentally applied to a hydraulic excavator and the experimental results illustrates the validity of the system.

Original languageEnglish
Pages1421-1426
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
Duration: 1997 Nov 91997 Nov 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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