Force feedback sensors are useful for the planning of robotic digging trajectories. In particular, when combined with force-control algorithms it becomes possible to sense buried objects and to determine the weight of excavated materials. The proposed force sensor system makes use of hydraulic cylinder pressure and thereby measures machine force indirectly. Successful implementation of such an ...

New techniques have recently appeared that can extend the advantages of grapple yarding to fast-growing plantations. The most promising technique consists of an excavator-base un-guyed yarder equipped with new radio-controlled grapple carriages, fed by another excavator stationed on the cut-over. This system is very productive, avoids in-stand traffic, and removes operators from positions of hi...

To estimate the modal parameters of Excavator Cab by conducting Multiple Input Multiple Output (MIMO) Modal Analysis test. MIMO testing is done to obtain Frequency response functions(FRF’s) either with two or more fixed inputs of forces and multiple outputs(called Input referencing) or with fixed multiple outputs and multiple inputs(called Output referencing). In the present testing, fixed inpu...

This paper is based on an independent study which had two goals. First was to apply the principles of dynamics to understand the behavior of complex mechanical systems. Within this theoretical framework, the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software package was used to make virtual models and accurate simulations of these systems. This part of the project was mainly a le...

Two n e w modes of real-t ime collision avoidance are presented wh.ich aid in the e.ffectiveness of remote tele-operation. S t i cky coll ision mode improves s y s t e m safety by disallowing contact wi th modelled obstacles. Slippery mode is used t o improve the eff iciency of -the process by reducing t h e required level of operator skill. B o t h modes execute an real-t ime and have been amp...

The need for repair actions was determined depending on the resource of technological machines and their parts. On example an excavator bucket, directions increasing capabilities are shown.

Teleoperated excavators have a risk of overturning or falling when digging because it is more difficult to receive information regarding the machine posture and work object condition than in case actual boarding. In this study, instability derived from attachment reaction force has been proposed. addition, for feedback operator, an intuitive visual presentation method using meter To verify effe...