Virtual excavator simulator featuring HILS and haptic joysticks

다국어 초록 (Multilingual Abstract)

This paper presents a virtual excavator simulator featuring hardware-in-the loop-simulation (HILS) technology and haptic joysticks.

First, the technical concept of the virtual excavator simulator is proposed. Then, the mathematical relations describing the behavior of theexcavator are derived for the software environment. Next, for reflecting the nonlinear and dynamic characteristics of the hydraulic systemin the excavator, the simulation software is integrated with the hydraulic system hardware. In addition, for improving the interaction performancebetween the operator and the simulator, MR fluid actuator based haptic joysticks are employed. The experimental performanceevaluation verified that the proposed concept of the virtual excavator simulator is effective and practical from the viewpoint of the realityimprovement.

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