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진익훈,이정기,백승필,안경관 제어로봇시스템학회 2010 제어로봇시스템학회 국내학술대회 논문집 Vol.2010 No.5
Since the big and complexity(complication) of construction, there have increased the working at the extreme condition. Remote control raise necessity head for high risk operation of construction such as hillside work or dismantling process of building and so on. This study shows the designed and development for remote control pneumatic excavator using the zigbee wireless network. Using the zigbee module combined PIC micro controller we hare checked the transmit and receive the reasonable control signal between Excavator and controller. Zigbee is the kind of wireless Personal mea network technology based on the IEEE 802.15, has the merit of low energy consuming, low price, easy connectivity and scalability. Excavator operation compose swing, boom, arm and bucket by proportional directional control valve and working circumference is recognized by wireless camera. Through the remote control excavator model we"ll evaluate remote control adapt to actual excavator and expand the areas of remote control.
양순용(S. S. Yang),진성민(S. M. JIN),최정주(J. J. Choi),이창돈(C. D. Lee),김용석(Y. S. Kim) 유공압건설기계학회 2009 드라이브·컨트롤 Vol.6 No.4
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.
양순용,진성민,최정주,이창돈,김용석 사단법인 유공압건설기계학회 2009 드라이브·컨트롤 Vol.6 No.4
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.
김동남(Dongnam Kim),오경원(Kyeongwon Oh),홍대희(Daehie Hong),박종협(Jong Hyup Park),홍석희(Suk Hie Hong) Korean Society for Precision Engineering 2008 한국정밀공학회지 Vol.25 No.7
Since the processes of dismantling are very dangerous, there have been many studies to develop remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling equipment that is usually an excavator, a novel concept of tele-operated device is proposed. Operators who use this device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the remote controller, its workspace is analyzed and the workspace mapping from the device to the excavator is explored. Second, after 7 steps of the excavating processes are defined, the kinematics which deals with the conversion from the 3 dimensional position information of the device to the joint variable information of the backhoe is included in this paper. Lastly, 3D graphical simulation of both remote controller and the backhoe will be shown. This new design of the remote control device can be easily manufactured and gives the workers very convenient and transparent remote control capability.
오경원(Kyeong Won Oh),김동남(Dongnam Kim),김남훈(Nam Hoon Kim),홍대희(Daehie Hong),김윤기(Yun-Ki Kim),홍석희(Sukhie Hong) Korean Society for Precision Engineering 2011 한국정밀공학회지 Vol.28 No.1
Hydraulic excavator is one of the most widely used heavy machines in construction sites including dismantling. In the dismantling sites, the excavators equipped with crusher or breaker carry out dangerous operations, so drivers are always exposed to unexpected danger. For safety operation, remote control of the hydraulic excavator has been studied using proportional control valve, which requires an appropriate motion control of its bucket tip. In this case, kinematics and dynamics analysis have to be preceded through modeling of excavator. However, it is difficult to acquire reasonable results from the analysis due to insufficient information of physical parameters such as mass of each links and locations of mass centers, etc. This study deals with the trajectory control of bucket tip, which is based on experimental estimation of cylinder output force. The estimated forces are fed into the control of each cylinder in order to compensate gravitational and frictional effects in the cylinders. The control was applied to horizontal trajectories that are for flattening work.