Transactions of The Korea Fluid Power Systems Society (유공압시스템학회논문집)
- Volume 6 Issue 4
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- Pages.9-15
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- 2009
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- 1738-3315(pISSN)
A Study on Tracking Control of Remote Operated Excavator for Field Robot
필드로봇용 원격 굴삭 시스템의 궤적제어에 관한 연구
Abstract
Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.
Keywords
- Field Robot;
- Remote operation excavator;
- Tele-operation excavator;
- Adaptive Sliding Mode control;
- Excavator
- 필드 로봇;
- 원격굴삭기;
- 원격 굴삭기;
- 적응 슬라이딩모드 제어;
- 굴삭기;