Design of a Teleoperation System for Hydraulic Excavator using Force Feedback Control

형궤환 제어를 이용한 유압 굴삭기의 원격 조종 시스템 개발

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.