The operator will control the excavator using two linear joysticks connected to a PC. The user commands will be relayed wirelessly to the hardware onboard the excavator which will drive the motors. The excavator track and joint movements are monitored by sensors mounted on the excavator. Motor currents will be monitored in order to compute forces on the tracks and bucket. All information is sent wirelessly to the PC workstation to be processed and used to create a real-time 3D model of the excavator.
The excavator will have two modes of operation. In MODE1, the operator will control each joint separately. In MODE2 (coordinated motion) the operator will command the end-effector motion, and the joint angle changes will be computed by the workstation software.
Two possible extensions of the project are: use of force feedback joysticks, and detection of track slippage. The force feedback will allow the operator to feel the forces acting on the bucket when the bucket is loaded or pushing against a static object. Detecting tracks slippage is important when creating an accurate graphical display of excavator movement. The estimated cost of this project is $500. This estimate includes replacement parts, assuming faulty components from last year’s project.
The group is composed of a computer engineer, and two electrical engineers. The project was completed successfully, as the excavator was fully functionaly, and could be monitored and controlled via the graphical user interface.
The Weblog details the project goals completed through the duration of the project.