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JRM Vol.24 No.6 pp. 977-984
doi: 10.20965/jrm.2012.p0977
(2012)

Development Report:

Master-Slave Control Method for Hydraulic Excavator

Hiroshi Yoshinada*, Kenji Okamura**, and Shinich Yokota***

*Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565-0871, Japan

**Komatsu Ltd., 1200 Manda, Hiratsuka-shi, Kanagawa 254-8567, Japan

***Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan

Received:
May 7, 2012
Accepted:
November 5, 2012
Published:
December 20, 2012
Keywords:
master-slave, different configuration, hydraulic excavator, joystick
Abstract

A new master-slave controlmethod is presented with a different configuration that will suit a hydraulic excavator operation. A new coordinate conversion method between master and slave manipulators is introduced. This method provides good agreement in direction of movement between master and slave manipulators in the almost entire work area without any mode change. The authors also developed a new 3-dimensional joystick as a master manipulator that has affinity with a conventional joystick and gives a comfortable feeling to conservative operators. In this paper, an outline of the new method is described and results of evaluation tests are presented.

Cite this article as:
Hiroshi Yoshinada, Kenji Okamura, and Shinich Yokota, “Master-Slave Control Method for Hydraulic Excavator,” J. Robot. Mechatron., Vol.24, No.6, pp. 977-984, 2012.
Data files:
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