遠隔操縦油圧ショベルの転倒防止のための機体動作の予測に基づく操作入力の自動調整

抄録

This paper describes automatic adjustment of operation input based on excavator motion prediction for tip-over prevention of a teleoperated excavator. This method predicts a future motion of excavator when an operation input is given. This allows the determination of the risk of tip-over by the operation input before an excavator moves. When the risk is detected, the operation input to the actuator is modified to keep the excavator from tip over. Future motion fo excavator is predicted by computing the movement of a teleoperated excavator based on an approximate excavator movement model. The proposed method successfully demonstrates tip-over prevention via simulation model experiments.