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Automatic adjustment of operation input based on excavator motion prediction for tip-over prevention of a teleoperated excavator
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- SHIGEMATSU Kosuke
- Graduate School of Systems and Information Engineering, University of Tsukuba
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- TSUBOUCHI Takashi
- Graduate School of Systems and Information Engineering, University of Tsukuba
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- SARATA Shigeru
- Graduate School of Systems and Information Engineering, University of Tsukuba
Bibliographic Information
- Other Title
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- 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
Description
<p>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.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (0), 1P2-B04-, 2017
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390282680917710848
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- NII Article ID
- 130006220601
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed