Practical Evaluation of a Control Concept for a Remote Controlled 1.8T Excavator Using a 3D Input Device

BATH/ASME Symposium on Fluid Power and Motion Control (FPMC)

Abstract

Abstract Tele-remote control of excavators poses challenges for operators. While conventional operation already requires complex motor skills and thus extensive training, both the feeling for the machine and the 3D view are missing in a tele-remote scenario. This can result in operators being unable to estimate distances and performing movements more slowly and less accurately. Possible solutions to facilitate the operation of remote-controlled construction machinery are to improve visibility conditions through more sophisticated camera systems, or to provide motion feedback to the operator station. However, these solutions may be limited, for example, by higher demands on data transmission. Another solution could be to adapt the control of the machine. Therefore, this paper presents a control concept for a tele-remote operated excavator using a 3D-input device. First the test machine and the general structure of the control concept are introduced. For controlling the tool-position, an approach with direct position control and one with secondary velocity control are presented. For evaluation, both approaches are tested and compared. Finally, operator trials are presented and the usability of the concept is evaluated.

Authors 3

1. Christian Stefan Haas Aachen

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University , Aachen, Germany

2. Andreas Opgenoorth Aachen

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University , Aachen, Germany

3. Katharina Schmitz Aachen

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University , Aachen, Germany