Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

This paper reports a newly developed hydraulic dual robotic arm system to create and evaluate intelligent systems, which support complicated machine operations, for advanced construction machinery. This kind of machine system (test-bed) requires functions to quantify its dynamic characteristics and operational difficulty (influential factors). In particular, construction manipulator nonlinearly changes its dynamics depending on various internal and external factors. To quantify such influential factors, our proposed test-bed is equipped with standard hydromechanical system which includes two manipulators and grapples, and practical sensing system which detects control input, oil pressure, oil temperature, and cylinder stroke data. Using the developed test-bed, fundamental experiments were conducted to clarify hydromechanical system characteristics. Experimental results indicate that the test-bed quantifies its hysteresis, pressure loss, and time delay, and show that variable dynamics complicates intuitive and precise machine operations and external force measurement. This analysis confirms the developed machine system is useful to quantify influential factors for creating intelligent system.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages1299-1304
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC
Duration: 2010 Jul 62010 Jul 9

Other

Other2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
CityMontreal, QC
Period10/7/610/7/9

Fingerprint

Robotic arms
Intelligent systems
Machinery
Manipulators
Force measurement
Hysteresis
Time delay
Hydraulics
Experiments
Temperature
Oils

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Kamezaki, M., Hashimoto, S., Iwata, H., & Sugano, S. (2010). Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 1299-1304). [5695941] https://doi.org/10.1109/AIM.2010.5695941

Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery. / Kamezaki, Mitsuhiro; Hashimoto, Satoshi; Iwata, Hiroyasu; Sugano, Shigeki.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. p. 1299-1304 5695941.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kamezaki, M, Hashimoto, S, Iwata, H & Sugano, S 2010, Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 5695941, pp. 1299-1304, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010, Montreal, QC, 10/7/6. https://doi.org/10.1109/AIM.2010.5695941
Kamezaki M, Hashimoto S, Iwata H, Sugano S. Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. p. 1299-1304. 5695941 https://doi.org/10.1109/AIM.2010.5695941
Kamezaki, Mitsuhiro ; Hashimoto, Satoshi ; Iwata, Hiroyasu ; Sugano, Shigeki. / Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. pp. 1299-1304
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