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A study on force reflecting joystick control using virtual force sensor for applications to excavators.
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Trung, N. T., Truong, Dinh Quang and Ahn, Kyoung Kwan (2011) A study on force reflecting joystick control using virtual force sensor for applications to excavators. In: 8th JFPS international Symposium on Fluid Power, Okinawa, Japan, 25-28 Oct 2011. Published in: Proceedings of the 8th JFPS International Symposium on Fluid Power pp. 650-656. ISBN 4931070086.
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Official URL: http://www.jfps.jp/proceedings/okinawa2011/pdf/2D2...
Abstract
Nowadays, tele-operation robotic systems, especially in construction machinery such as automated excavators become
an urgent demand which help improving productivity, safety, and reducing of operation costs. The aim of this paper is to
develop a novel force reflecting joystick control (FRJC) method using virtual force sensor for applications to excavators.
Here, the suggested system is a combination of a master system – force reflecting joystick mechanism (FRJM) and a slave system – real excavator which is integrated with potentiometers at its active joins. Two non-linear black box models (NBBM) are proposed for identifying dynamic behaviors of the excavator and FRJM. Once, the optimized
models are obtained, they can be used in a combination with potentiometers to estimate loading forces without using
any force sensor as well as to monitor current states of the excavator in the virtual environment. A test rig employing a pneumatic actuator was used in this study for investigating the proposed NBBM models.
| Item Type: | Conference Item (Paper) | ||||
|---|---|---|---|---|---|
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||
| Journal or Publication Title: | Proceedings of the 8th JFPS International Symposium on Fluid Power | ||||
| Publisher: | JFPS | ||||
| ISBN: | 4931070086 | ||||
| Official Date: | 2011 | ||||
| Dates: |
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| Page Range: | pp. 650-656 | ||||
| Status: | Not Peer Reviewed | ||||
| Publication Status: | Published | ||||
| Conference Paper Type: | Paper | ||||
| Title of Event: | 8th JFPS international Symposium on Fluid Power | ||||
| Type of Event: | Conference | ||||
| Location of Event: | Okinawa, Japan | ||||
| Date(s) of Event: | 25-28 Oct 2011 | ||||
| Related URLs: |
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