Realization of Remote Control Scheme for Excavator Robot
-
摘要: 针对现有半自主遥控挖掘机器人存在的不足,提出一种基于动作的挖掘机器人遥操作控制方案。首先在综合论述该遥操作系统控制原理基础上,重点阐述了挖掘机各工作装置遥操作的实现,并搭建基于动作的挖掘机器人遥操作实验平台进行实验验证。结果表明:该遥操作系统不仅设备简单轻便,操作灵活,而且主-从端跟随性能良好,能达到挖掘机遥操作作业的基本要求,为挖掘机器人遥操作系统的开发与设计提供参考。Abstract: Aiming at the shortages of existing semi-autonomous excavator robot, a remote control scheme based on actions is proposed in this paper. On the basis of the comprehensive discussion of remote control theory, the realization of the remote control scheme for excavator is stated, and a platform has been built to verify the control scheme based on actions. The results and their analysis show preliminarly that the remote control system is not only lightweight in equipment, flexible in operating and has a good performance in tracking master-slave end. It can meet the basic requirement of remote operation of excavator, providing a reference for the development and design of excavator remote control system.
-
Key words:
- control based on actions /
- excavator robot /
- remote control
-
[1] 赵鑫.智能挖掘机轨迹控制研究[D].长沙:中南大学,2012 Zhao X. Trajectory control of new intelligent excavator[D]. Changsha: Central South University, 2012 (in Chinese) [2] Kim D, Kim J, Lee K, et al. Excavator tele-operation system using a human arm[J]. Automation in Construction, 2009,18(2):173-182 [3] Hirabayashi T, Akizono J, Yamamoto T, et al. Teleoperation of construction machines with haptic information for underwater applications[J]. Autom Constr, 2006,15(5):563-570 [4] Ueda Y, Yamano I, Maeno T. Development of a grounded haptic device and a 5-fingered robot hand for dexterous teleoperation[C]//Proceedings of Intemational Symposium on Robotics and Automation2004. Queretaro, Mexico: IEEE, 2004 [5] Wojtara T, Nonami K, Shao H, et al. Master-slave hand system of different structures, grasp recognition by neural network and grasp mapping[J]. Robotica, 2004,22(4):449-454 [6] Frankel J. Development of a haptic backhoe testbed[D]. Atlanta: Georgia Institute of Technology, 2004 [7] 曾拥华,严骏,黎波,等.自主作业挖掘机电控模型[J].建筑机械,2012,(21):134-136 Zeng Y H, Yan J, Li B, et al. Electronic control model of automatic excavator[J]. Construction Machinery, 2012,(21):134-136 (in Chinese) [8] 游杨.基于电液比例技术的液压挖掘机近地无线遥控系统研究[D].洛阳:河南科技大学,2012 You Y. The research of hydraulic excavator's close wireless remote control system based on electro-hydraulic proportional technology[D]. Luoyang: Henan University of Science and Technology, 2004 (in Chinese) [9] 兰结昌.AVR单片机系统开发经典实例[M].北京:化学工业出版社,2011 Lan J C. AVR development of the classic examples of microcontroller[M]. Beijing: Chemical Industry Press, 2011 (in Chinese) [10] 冯蓉珍.基于ATmega128的智能机器人小车控制系统设计[J].河北软件职业技术学院业学报,2012,14(1):37-41 Feng R Z. Design of intelligent car control system based on ATmega128[J]. Journal of Hebei Software Institute, 2012,14(1):37-41 (in Chinese) [11] 刘强,童昕,冯培恩,等.挖掘机器人伺服控制技术综述[J].中国工程机械学报,2007,5(2):235-239 Liu Q, Tong X, Feng P E, et al. Overview of servo control technologies for excavators[J]. Chinese Journal of Construction Machinery, 2007,5(2):235-239 (in Chinese) [12] 翟延华.挖掘机遥控操作系统的研究[D].兰州:兰州理工大学,2008 Zhai Y H. Research of remote control operating system for excavator[D]. Lanzhou: Lanzhou University of Technology, 2008 (in Chinese) [13] 常绿,王国强,韩云武.液压挖掘机自动控制系统的设计和实现[J].农业工程学报,2007,23(6):140-144 Chang L, Wang G Q, Han Y W. Design and realization of computer controlled working device system for hydraulic excavator[J]. Transactions of the CSAE, 2007,23(6):140-144 (in Chinese) [14] 冯雨萌.基于电液比例技术的液压挖掘机控制系统研究[D].长沙:中南大学,2010 Feng Y M. The research of hvdraulic excavator's remote control system based on electro-hvdraulic proportional technology[D]. Changsha: Central South University, 2010 (in Chinese) [15] 梅勇兵,朱建新,杨翔.无线遥控系统在液压挖掘机上的应用[J].建筑机械,2007,(6):92-94 Mei Y B, Zhu J X, Yang X. Application of remote wireless control system for excavator[J]. Construction Machinery, 2007,(6):92-94 (in Chinese)
点击查看大图
计量
- 文章访问数: 156
- HTML全文浏览量: 30
- PDF下载量: 8
- 被引次数: 0