2P1-B19 熟練オペレータによる油圧ショベルの掘削作業解析 : 掘削方向とバケット姿勢の関連(建設・解体ロボット・メカトロニクス)

概要

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In recent years, some unmanned operation systems for the hydraulic excavator are required and some tele-operation systems are already developed. However, it is difficult to realize effective operation utilizing such systems, because the operator cannot sense condition of site. The skillful operator adaptive their operation to the excavating environment based on the experience, and realizing the efficient excavating. In this paper, we described the experiment for extracting operator's skill for controlling unmanned hydraulic excavator. We discussed about relation of excavating resistance and bucket's posture from experimental results. Furthermore, we compared the operation of two skillful operators and tried to extract skill that is not individual but common between skillful operators on the same working environment.
一般社団法人日本機械学会の論文
2008-06-06