Cartesian coordinate control for teleoperated construction machines

Despite the continuous development of the hardware, most construction machines are exclusively teleoperated limiting the control to a single paradigm. The operators usually have to move different joints of the machine in a coordinated way solely relied on their experiences leading to reduced local accuracy and work efficiency. Automation of construction machinery can open up new possibilities to improve efficiency and safety during the construction process. This work introduces a generic method that can adapt construction machines that have been already used in the field for decades, so that a more intuitive and versatile control paradigm can be allowed. We introduce the system architecture with the necessary hardware extension and the closed-loop inverse kinematic based motion controller implemented in a visual programming environment. In contrast to existing works, which are mostly based on developing entirely new systems, an autonomous machine suited for construction sites and other hazardous environments can be obtained at a reduced effort. Because of its low cost and generality, this approach can be widely utilized in construction industries opening possibilities for a combination of the advanced robotics technology with proven machines from construction sites. We present our first prototype system based on a BROKK 170 demolition machine and highlight its capabilities but also the inherent limitations of the proposed method.