DocumentCode
323903
Title
A virtual excavator for controller development and evaluation
Author
DiMaio, S.P. ; Salcudean, S.E. ; Reboulet, C. ; Tafazoli, S. ; Hashtrudi-Zaad, K.
Author_Institution
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Volume
1
fYear
1998
fDate
16-20 May 1998
Firstpage
52
Abstract
In order to facilitate the testing and evaluation of control strategies and operator environments designed for heavy duty hydraulic machines, an excavator simulator has been developed and is described in this paper. The simulator comprises an impedance model of the excavator arm, a model for the bucket-ground interaction forces, a graphical environment and a haptic interface. This paper describes the simulator components and their integration
Keywords
control system CAD; digital simulation; dynamics; excavators; virtual reality; CAD; dynamics; graphical simulation; ground interaction model; haptic interface; hydraulic machines; impedance model; virtual excavator; Force feedback; Forestry; Haptic interfaces; Hydraulic equipment; Impedance; Magnetic levitation; Shearing; Soil; Testing; User interfaces;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.676255
Filename
676255
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