Modeling of biodynamic feedthrough in backhoe operation

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Title: Modeling of biodynamic feedthrough in backhoe operation
Author: Humphreys, Heather C. ; Book, Wayne John ; Huggins, James D.
Abstract: An advanced backhoe user interface has been developed which uses coordinated control with haptic feedback. Results indicate that the coordinated control provides more intuitive operation that is easy to learn, and the haptic feedback also relays meaningful information back to the user in the form of force signals from digging forces and system limitations. However, results show that the current system has significant problems with biodynamic feedthrough, where the motion of the controlled device excites motion of the operator, resulting in undesirable forces applied to the input device and control performance degradation. This unwanted input is difficult to decouple from the intentional operator input in experiments. This research presents an investigation on the effects of biodynamic feedthrough on this particular backhoe control system, using system identification to empirically define models to represent each component. These models are used for a preliminary simulation study on potential methods for biodynamic feedthrough compensation.
Description: ©2009 ASME Presented at the 2009 Dynamic Systems and Control Conference (DSCC2009) October 12–14, 2009, Hollywood, California, USA. DOI: 10.1115/DSCC2009-2646
Type: Proceedings
ISBN: 978-0-7918-4893-7
Citation: Heather C. Humphreys, Wayne J. Book, and James D. Huggins, "Modeling of biodynamic feedthrough in backhoe operation," Proceedings of DSCC2009, 2009 ASME Dynamic Systems and Control Conference, Volume 2, 57-64.
Date: 2009-10
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
American Society of Mechanical Engineers
Subject: Backhoe control systems
Haptic feedback
Biodynamic feedthrough

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