굴삭기를위한 원격 제어시스템적용

An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, carrying loads. grounding and dumping loads. However, operating excavators on the risk surroundings is not safe for humnan to control on site. Consequently, automation in excavator has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environment. In this paper, the architecture of the remote control system for excavators includes the actuators, modeling. sensors. controller. components is proposed. The remote control is consisted of manual mode and auto mode. Manual mode controls a hydraulic cylinder as open loop control and auto mode controls the end effecter of the excavator using tracking control system.