The unmanned robotic excavator system has recently become one solution for rescue at the disaster site. Almost all of the solutions about excavator automation have used the electric valve controller and pressure sensor through the mechanical modifications since they are essential. However, some problems might occur because of unpredictable cost and time consumption in modifying the hydraulic drive and mechanical system. In contrast, this paper proposes a completely novel approach for regulation control of any typical hydraulic excavator by excluding those devices which is related to hydraulic drive system. This method controls the lever displacements physically by using the detachable devices and embedded system for avoiding an any modifications and complex computation. Applying the time delay control (TDC) method, this paper demonstrates the globally stable of regulation control of an excavator in the joint space even though states about the hydraulic systems and body dynamics are not observed. It is expected that this method could help the user to safe respond to requirements in emergencies through the rapid robotization without modifications.

无人驾驶机器人挖掘机系统最近成为灾难现场救援的一种解决方案。几乎所有关于挖掘机自动化的解决方案都通过机械改造使用了电动阀门控制器和压力传感器，因为它们是必不可少的。然而，由于修改液压驱动和机械系统的不可预测的成本和时间消耗，可能会出现一些问题。相比之下，本文提出了一种全新的方法，通过排除与液压驱动系统相关的设备，对任何典型的液压挖掘机进行调节控制。该方法通过使用可拆卸的设备和嵌入式系统来物理控制杠杆位移，以避免任何修改和复杂的计算。应用时间延迟控制（TDC）方法，本文证明了挖掘机在关节空间的调节控制的全局稳定性，即使没有观察到液压系统和车身动力学的状态。预计这种方法可以帮助用户通过无需修改的快速机器人化，在紧急情况下安全响应需求。