Review of modelling and remote control for excavators

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Authors: Yu, H., Liu, Y. and Hasan, M.S.

Journal: International Journal of Advanced Mechatronic Systems

Volume: 2

Issue: 1-2

Pages: 68-80

eISSN: 1756-8420

ISSN: 1756-8412

DOI: 10.1504/IJAMechS.2010.03085

An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, ground levelling, carrying loads, dumping loads and straight traction. However, there are many tasks, such as hazard environment (nuclear decomposition, earthquake, etc.) which is not suitable for human to work on site. The remotely controllable excavators are required to work in such environment. In this paper, we report the current progress of the ongoing project. We investigate modelling and remote control issues of industry excavators. After reviewing the literature on the related work, architecture for remotely controllable excavators is proposed. The architecture covers actuators, modelling, sensors, image signal processing, communication networks, controllers, task and path planning, human computer interaction, optimal design, co-simulation and virtual training environment. The details of modelling, communication and control of a remotely controllable excavator are provided. © 2010 Inderscience Enterprises Ltd.

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