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Yang, S.S.;Jin, S.M.;Choi, J.J.;Lee, C.D.;Kim, Y.S.
- Transactions of The Korea Fluid Power Systems Society
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- v.6 no.4
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- pp.9-15
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- 2009
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.
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Kim, Sung-Keun;Koo, Bonsang
- KSCE Journal of Civil and Environmental Engineering Research
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- v.30 no.4D
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- pp.433-442
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- 2010
Recent decrease in the availability of experienced skilled labor and a corresponding lack of new entrants has required the need for automating many of the construction equipment used in the construction industry. In particular, excavators are widely used throughout earthwork operations and automating its tasks enables work to be performed with higher productivity and safety. This paper introduces an optimal path generation method which is one of the core technologies required to make "Intelligent" excavators a reality. The method divides a given earthwork area into unit cells, identifies networks created by linking these cells, and identifies the optimal path an excavator should follow to minimize its total transportation costs. In addition, the method also accounts for drainage direction and path continuity to ensure that the generated path considers site specific conditions.
https://doi.org/10.12652/Ksce.2010.30.4D.433 인용 PDF KSCI

Cho, Y.S.;Kim, H.S.;Song, I.S.;Jeong, C.S.;Yang, S.Y.
- 유공압시스템학회:학술대회논문집
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- 2010.06a
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- pp.62-65
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- 2010
Field robot represented by excavator can be applied for various working in manufacturing, construction, agriculture etc. Because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. Since the excavator operates in the hazardous working circumstance, operators exposed in harmful environment. Therefore, automation system has been investigated to protect from the harmful environment. In this paper, the method to construct the remote control system is proposed. The remote control system is consisted of a manual and auto mode. Manual mode controls a hydraulic cylinder as open loop control. and auto mode controls the end effecter of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.
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