Embedded Architecture of a Hydraulic Demolition Machine for Robotic Teleoperation in the Construction Sector

摘要

In the last decade, teleoperated machines have become a reality in modern construction yards. Although these machines represent a step forward in terms of flexibility and safety, they still rely on a traditional control pad. Usually, the operators move the machine's end-effector driving each joint sequentially following a predefined order which depends on the operator's skill. This paper describes the design choices, the architecture of the system and the closed-loop control structure proposed to improve the human-machine interaction on a working machine for the construction field. The proposed solution has been implemented on a remote-controlled demolition platform exploiting a hybrid LabVIEW-Matlab software architecture. The work also proposed a closed-loop position control for the hydraulic manipulator. The feasibility of the proposed embedded architecture is assessed through experimental tests where the end-effector (EE) has to track a predefined trajectory.