Name
Title | ||
|---|---|---|
Embedded Architecture of a Hydraulic Demolition Machine for Robotic Teleoperation in the Construction Sector |
Abstract | ||
|---|---|---|
In the last decade, teleoperated machines have become a reality in modern construction yards. Although these machines represent a step forward in terms of flexibility and safety, they still rely on a traditional control pad. Usually, the operators move the machine's end-effector driving each joint sequentially following a predefined order which depends on the operator's skill. This paper describes the design choices, the architecture of the system and the closed-loop control structure proposed to improve the human-machine interaction on a working machine for the construction field. The proposed solution has been implemented on a remote-controlled demolition platform exploiting a hybrid LabVIEW-Matlab software architecture. The work also proposed a closed-loop position control for the hydraulic manipulator. The feasibility of the proposed embedded architecture is assessed through experimental tests where the end-effector (EE) has to track a predefined trajectory. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/COASE.2018.8560345 | 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) |
Keywords | Field | DocType |
hydraulic manipulator,embedded architecture,end-effector,hydraulic demolition machine,robotic teleoperation,construction sector,teleoperated machines,modern construction yards,flexibility,safety,joint sequentially,design choices,closed-loop control structure,human-machine interaction,working machine,construction field,remote-controlled demolition platform,hybrid LabVIEW-Matlab software architecture,closed-loop position control | Teleoperation,Architecture,Computer science,Manipulator,Embedded architecture,Demolition,Control engineering,Operator (computer programming),Software architecture,Trajectory | Conference |
ISSN | ISBN | Citations |
2161-8070 | 978-1-5386-3594-0 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| matteo tanzini | 1 | 0 | 1.01 |
| Juan Manuel Jacinto-Villegas | 2 | 2 | 2.75 |
| Massimo Satler | 3 | 41 | 7.06 |
| Marta Niccolini | 4 | 15 | 3.87 |
| Carlo Alberto Avizzano | 5 | 196 | 36.19 |