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원격 굴삭시스템에 햅틱 인터페이스의 적용을 위한 유압신호 보상에 대한 연구

Title
원격 굴삭시스템에 햅틱 인터페이스의 적용을 위한 유압신호 보상에 대한 연구
Other Titles
Experimental Study on Hydraulic Signal Compensation for the Application of a Haptic Interface to a Tele-Operated Excavator
Author
박형준
Alternative Author(s)
Hyung-Jun Park
Advisor(s)
한창수
Issue Date
2011-08
Publisher
한양대학교
Degree
Master
Abstract
The domestic construction industry should solve problems such as lack of skilled workers, safety matters, and weakened competitiveness of construction technology. These problems can be addressed by “Construction Automation”. There are limits not only to operating construction equipment in dangerous places, but also to working in these places, because operators can be exposed there to dangerous environment. Therefore, construction automation is definitely needed for the safe use of construction equipment. Excavators are widely used in public works and construction sites. Semi-automated or automated excavators are also being developed. They are used for very dangerous tasks such as slopes, soft ground, building dismantlement, and disaster restoration. Under difficult circumstances, it is more efficient to use an excavator operated with a remote control system. Many researches are underway to develop this kind of system. Conventional remote control systems have been mostly dependent on two-dimensional images. In this study, this system was used, which made it difficult to measure the depth of the excavation location and it took a long time to complete the work. That is why there have not been many practical cases of utilization of tele-operated excavators. Because of these limitations, the haptic technology is proposed that enables recognition of bucket-reflected force and its passing on to the operator. The research was conducted to overcome these difficulties of using two-dimensional images, by developing a force-feedback joystick that efficiently detects the underground condition and applies it to a tele-operated excavator.
URI
http://dcollection.hanyang.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000061002https://repository.hanyang.ac.kr/handle/20.500.11754/138807
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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