Coordinated and Force-Feedback Control of Hydraulic Excavators

The human interface of a Caterpillar 325FB feller-buncher was modified to allow the operator to use (i) a 5-DOF joystick, and (ii) a 6-DOF magnetically-levitated joystick with stiffness feedback. While the operator commanded the velocity of the endpoint, an onboard computer system managed total system power, solved the inverse kinematics, servoed the joint actuators, and controlled the magnetically-levitated joystick.

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