Excavator teleoperation system and force feedback gains

Copy arm is a scaled copy of an excavator to fit human arm movement zone to be able to control the excavator by anticipating movements of the excavator parts. Bringing copy arm to desired position instead of controlling via 2 joysticks will be enough to determine the bucket position. Thus, the operator will be able to predict the movement of an excavator. The use of copy arm on controlling the excavator will facilitate controlling the excavator and will make it safe. Therefore, the need for skilled operators will be eliminated. To detect position of copy arm and the excavator, the angle sensor systems have been developed using magnetic rotary position sensors. To ease the system integration and increase applicability of all systems, wireless angle sensor system has been developed to transmit the excavator position. Operator can only detect obstacles visually. When force feedback is integrated to this system, operators will be able to detect not seen obstacles via copy-arm and the system will not be forced. Therefore, more accurate operations can be performed. Using wireless communication between the excavator and the copy arm, operators will stay far from the operation field. Due to wireless communication (teleoperation), injuries and deaths of operators will be prevented in dangerous mission fields (Nuclear power plants, chemical environments, underwater construction, etc.). The developed system would be utilized in demining, shelter excavating operations of military forces.