A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Master-slave manipulation system for a backhoe excavator
In this research, a master-slave manipulation system for a backhoe excavator was developed to achieve easy operation, remote operation, precise operation and the operation in severe environments such as a deep underground worksite. A down-scaled model of the excavator arm is used as the master mechanism. The slave mechanism is the excavator arm which is actuated by an electrohydraulic servomechanism, and it follows the motion of the master. The controller of the manipulation system has two control modes, i.e., position control mode and speed/force control mode. To simplify the control system and to realize smooth motion, a series filter called the reference signal generator is applied to the slave servo loop in the form of software. Characteristics of the system are shown in the experimental results. Remote operation was tested using a television camera with two eyes and a three-dimensional picture on a television screen.
Master-slave manipulation system for a backhoe excavator
In this research, a master-slave manipulation system for a backhoe excavator was developed to achieve easy operation, remote operation, precise operation and the operation in severe environments such as a deep underground worksite. A down-scaled model of the excavator arm is used as the master mechanism. The slave mechanism is the excavator arm which is actuated by an electrohydraulic servomechanism, and it follows the motion of the master. The controller of the manipulation system has two control modes, i.e., position control mode and speed/force control mode. To simplify the control system and to realize smooth motion, a series filter called the reference signal generator is applied to the slave servo loop in the form of software. Characteristics of the system are shown in the experimental results. Remote operation was tested using a television camera with two eyes and a three-dimensional picture on a television screen.
Master-slave manipulation system for a backhoe excavator
Master-Slave-System zur Handhabung eines Schaufelbaggers
Sato, S. (author) / Konno, H. (author) / Kobayashi, K. (author) / Takasu, M. (author)
Scandinavian International Conference on Fluid Power, 3 ; 2 ; 349-361
1993
13 Seiten, 15 Bilder, 3 Tabellen
Conference paper
English
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