Teleoperation system of power shovel for subterranean line works

Kazuhiro Kosuge, Koji Takeo, Hirokazu Ishida

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1421-1426
ページ数6
出版ステータスPublished - 1997 12 1
イベントProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
継続期間: 1997 11 91997 11 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

  • 制御およびシステム工学
  • 電子工学および電気工学

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