Teleoperation system of power shovel for subterranean line works

This paper proposes a teleoperation system for a hydraulic excavator which is used for subterranean line works. We design a teleoperation system based on a velocity-based force control algorithm so that the excavator will not damage existing underground equipment. To cope with external force due to excavation, we introduce a nonlinear force feedback block. We also introduce a saturation block at the input from the operator so that the operator´s inappropriate input could be rejected. The proposed teleoperation system is experimentally applied to a hydraulic excavator and the experimental results illustrate the validity of the system