Teleoperation system of power shovel for subterranean line works

Abstract

This paper proposes a teleoperation system for hydraulic excavator which is used for subterranean line works. We design a teleoperation system based on velocity-based force control algorithm so that the excavator will not damage existing under ground equipments. To cope with external force due to excavation, we introduce non-linear force feedback block. We also introduce saturation block at the input from operator so that the operator's inappropriate input could be rejected. The proposed teleoperation system is experimentally applied to a hydraulic excavator and the experimental results illustrates the validity of the system.