Abstract
The human interface of a Caterpillar 325FB feller-buncher was modified to allow the operator to use (i) a 5-DOF joystick, and (ii) a 6-DOF magnetically-levitated joystick with stiffness feedback. While the operator commanded the velocity of the endpoint, an onboard computer system managed total system power, solved the inverse kinematics, servoed the joint actuators, and controlled the magnetically-levitated joystick.
It was found that there were significant benefits to single joystick endpoint velocity control including smoothness of motion, less damage to product (trees), and ease of operation. Controlling joystick stiffness as a function of endpoint force, was found to be both a stable and effective form of feedback for a system where joystick position maps to endpoint velocity.
Two different hydraulic systems were implemented and evaluated. The first used valve control, as in a standard excavator. The second used hydrostatic control, by variable displacement pumps, and was found to lead to lower power consumption and higher operating speeds.
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© 1997 Springer-Verlag London Limited
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Lawrence, P.D. et al. (1997). Coordinated and force-feedback control of hydraulic excavators. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035209
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DOI: https://doi.org/10.1007/BFb0035209
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