ASSISTING FORCE FEEDBACK FUNCTION FOR HAND-HELD REMOTE CONTROL OF EXCAVATOR

抄録

Remote control of hydraulic mobile machines is often used because of safety issues. In addition to safety, remote control can be used to improve working efficiency and usability of the machine. A prototype of a hand-held remote control is designed to be used as a user interface of a mobile machine with an excavator while the machine is controlled remotely over short-range.
Since the remote control is designed to be used over short-range it provides congruent visual and voice feedback with the ordinary onboard user interface. In order to improve the feel of control an assisting force feedback function is implemented. The load of the machine is measured with a pressure transmitter. When the load tends to certain level information is provided to the operator. The idea is to inform the operator about the high load and possible power limitations, not to provide proportional force feedback.
Implementation of the system is introduced in this paper. The system is tested under real circumstances by using the excavator. Behaviour of the system during an excavation cycle is represented.