Abstract
Hydraulic excavators are the representative of field robot and has been used in various fields of construction. Since the excavator operates in the hazardous working circumstance, operators of excavator exposed in harmful environment. Therefore, automation and remote control system have been investigated to protect from the hazardous working environment. In this paper, a hydraulic simulation program and a remote control system were developed based on 1.5 ton excavator which is a kind of field robot. The simulator was made by the AMESim, hydraulic modeling environment. And the method to construct the remote control system is proposed. The remote control system is consisted of a manual and automatic mode. Manual mode controls a hydraulic cylinder as open loop control and auto mode controls the end-effecter of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.
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