Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Maneuver Interface Scheme of a Hydraulic Backhoe Manipulator

유압구동 백호 작업기 조작 인터페이스개발

  • 윤정원 (경상대학교 기계항공공학부 항공기부품 기술연구센터) ;
  • 마누룽 오라리우스 (경상대학교 기계항공공학부 항공기부품 기술연구센터) ;
  • 윤정환 (대구대학교 자동차 산업.기계공학부)
  • Received : 2009.10.30
  • Accepted : 2010.01.28
  • Published : 2010.04.01
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Abstract

This paper presents an intuitive interface scheme for controlling a hydraulic backhoe, which is a piece of excavating equipment consisting of a digging bucket on the end of a two-part articulated arm, and typically mounted and rotated on the back of a tractor or front loader. The passive levers/joysticks for actuator operations of a hydraulic backhoe are replaced into electric joysticks with a robotic controller, which will generate the end-effecter command trajectories of the backhoe through joystick rate control in cylindrical coordinate. The developed backhoe with the hydraulic control system showed the maxim position error of 3 cm with intuitive coordinate operations, which would be helpful for conveniently performing various excavating tasks with natural and effective ways.

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References

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