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
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;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.676255
