抄録
This paper reports a newly developed hydraulic dual robotic arm system for research and development on advanced intelligent construction machinery that has two joysticks to control the two manipulators with twelve degrees of freedom, control valves with load-sensing system, and sensors for detecting lever operation, cylinder oil pressure, and cylinder stroke information. To clarify important points at addressing an intelligent system, we evaluated basic characteristics of hydraulic machine system. Experimental results showed that hydraulic machine system has measurable time delay from lever input to cylinder actuation, which makes a cooperative operation with two arms difficult. We also found that magnitude of cylinder load greatly changes by lever operation and joint angle, which requires a sophisticated external load detecting method.
