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

Content Provider	IEEE Xplore Digital Library
Author	Kamezaki, M. Hashimoto, S. Iwata, H. Sugano, S.
Copyright Year	2010
Description	Author affiliation: School of Creative Science and Engineering, Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan (Sugano, S.) \|\| Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan (Kamezaki, M.) \|\| Major in Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan (Hashimoto, S.) \|\| Waseda Institute for Advanced Study (WIAS), Waseda University, 1-6-1 Nishi Waseda, Shinjuku-ku, Tokyo 169-8050, Japan (Iwata, H.)
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.
Starting Page	1299
Ending Page	1304
File Size	404604
Page Count	6
File Format	PDF
ISBN	9781424480319
e-ISBN	9781424480326
DOI	10.1109/AIM.2010.5695941
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Manipulators Intelligent systems Robot sensing systems Valves
Content Type	Text
Resource Type	Article

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