A Virtual Environment for the Simulation and Programming of Excavation Trajectories

Authors:
Simon P. DiMaio;Septimiu E. Salcudean;Claude Reboulet
Affiliations:
Department of Electrical and Computer Engineering, University of British Columbia Vancouver, BC, V6T 1Z4, Canada, tims@ece.ubc.ca;Department of Electrical and Computer Engineering, University of British Columbia Vancouver, BC, V6T 1Z4, Canada, simond@ece.ubc.ca;ONERA-CERT 2 avenue Edouard Belin 31055 Toulouse, France
Venue:
Presence: Teleoperators and Virtual Environments
Year:
2001

Citing 2
Cited 0

Computer-controlled systems: theory and design (2nd ed.)

Computer-controlled systems: theory and design (2nd ed.)
Evaluation of Impedance and Teleoperation Control of a Hydraulic Mini-Excavator

Proceedings of the 5th International Symposium on Experimental Robotics V

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Abstract

An excavator simulator has been developed to facilitate the training of human operators and to evaluate control strategies for heavy-duty hydraulic machines. The operator controls a virtual excavator by means of a joystick while experiencing visual and force feedback generated by environment and machine models. The simulator comprises an impedance model of the excavator arm, a model for the bucket-ground interaction forces, a graphically rendered visual environment, and a haptic interface. This paper describes the simulator components and their integration.