Ahmad Anas Yusof, M. A. Saadun, H. Sulaiman, S. A. Sabaruddin
{"title":"The development of tele-operated electro-hydraulic actuator (T-EHA) for mini excavator tele-operation","authors":"Ahmad Anas Yusof, M. A. Saadun, H. Sulaiman, S. A. Sabaruddin","doi":"10.1109/ROMA.2016.7847800","DOIUrl":null,"url":null,"abstract":"High risk and dangerous post disaster recovery operation requires the use of heavy vehicle tele-operation. This study deals with tele-operated electro-hydraulic actuator system or T-EHA for the operation of construction vehicle tele-operation that focuses on a robotic system to remotely control a mini excavator. The current development of the system, from design, simulation and control aspects of T-EHA is presented. A wireless PS2 controller with Arduino programming has been utilized as the remote controller for the system. The T-EHA system is later used to control a lever which is used to manipulate the movement of the mini excavator's boom. Simulation on the position control of T-EHA is conducted at a designated signal interval, with system flow rate and pressure of 0.7lpm and 20 bar respectively. The overall movement correlates with the simulated input signal. Laboratory evaluation on T-EHA tele-operation have been conducted at a distance of 5 meters, accordingly.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMA.2016.7847800","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
High risk and dangerous post disaster recovery operation requires the use of heavy vehicle tele-operation. This study deals with tele-operated electro-hydraulic actuator system or T-EHA for the operation of construction vehicle tele-operation that focuses on a robotic system to remotely control a mini excavator. The current development of the system, from design, simulation and control aspects of T-EHA is presented. A wireless PS2 controller with Arduino programming has been utilized as the remote controller for the system. The T-EHA system is later used to control a lever which is used to manipulate the movement of the mini excavator's boom. Simulation on the position control of T-EHA is conducted at a designated signal interval, with system flow rate and pressure of 0.7lpm and 20 bar respectively. The overall movement correlates with the simulated input signal. Laboratory evaluation on T-EHA tele-operation have been conducted at a distance of 5 meters, accordingly.