In this paper we present the advances in the design and develop of a system used to simplify the excavator digging tasks based in a dynamical model of an excavator an anthropomorphic auto-balanced haptic interface and a force-position control law. The objective of this system is to reduce the training period and simplify the execution of digging tasks. This system makes possible the kinesthetic coupling between the operator and the machine providing information to the operator about the interaction forces between the excavator and the soil. The dynamical models of the excavator and the haptic devise were calculated employing the Euler-Lagrange formalism. With this formalism we obtain a new general dynamical model of an excavator including the dynamical effects of the hydraulic actuators. We present simulation results of the closed loop system considering the interaction between the haptic devise and the excavator.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Integration of force-position control and haptic interface facilities for a virtual excavator simulator


    Beteiligte:


    Erscheinungsdatum :

    2005


    Format / Umfang :

    8 Seiten, 10 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Coordinated control paradigm for hydraulic excavator with haptic device

    Morosi, Federico / Rossoni, Marco / Caruso, Giandomenico | BASE | 2019

    Freier Zugriff

    Haptic Interface for Virtual Reality

    Adachi, Y. | British Library Online Contents | 1996


    Application of Haptic Interface to Produce Haptic Illusion in Virtual Environment

    Hara, M. / Higuchi, T. / Yabuta, T. | British Library Online Contents | 2003


    The Virtual Reality Simulator-based Catheter Training System with Haptic Feedback

    Guo, Shuxiang / Yu, Miao / Song, Yu et al. | British Library Conference Proceedings | 2017


    Towards a Realistic Medical Simulator using Virtual Environments and Haptic Interaction

    Laugier, Christian / Mendoza, César / Sundaraj, Kenneth | Springer Verlag | 2003