Abstract
This paper presents electro-hydraulic servo systems of a robotic excavator with a contour control algorithm. It is very important to precisely move the bucket tip of the excavator to a desired trajectory. There have been many studies to accurately control the bucket dealing with the non-linearity in the hydraulic boom, arm, and bucket cylinders. Beginning with these conventional methods, a new method that focuses on keeping contours rather than just following position commands is presented. In the leveling work, for example, it is more important to maintain linear contour than chasing a position goal. The contour control shares the control effort to make the bucket stay on the path, while slightly sacrificing the position tracking accuracy. After the kinematics of the excavator system were analyzed, the contour control algorithm was developed. The algorithm was applied to leveling work with a real excavator. The experiments showed better performance than using position control alone.
| Original language | English |
|---|---|
| Pages (from-to) | 2055-2060 |
| Number of pages | 6 |
| Journal | International Journal of Precision Engineering and Manufacturing |
| Volume | 14 |
| Issue number | 12 |
| DOIs | |
| Publication status | Published - 2013 Dec 31 |
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Keywords
- Contour control
- Intelligent excavator
- Leveling work
- Robotic excavator
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Contour control for leveling work with robotic excavator. / Lee, Chang Seop; Bae, Jangho; Hong, Daehie.
In: International Journal of Precision Engineering and Manufacturing, Vol. 14, No. 12, 31.12.2013, p. 2055-2060.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Contour control for leveling work with robotic excavator
AU - Lee, Chang Seop
AU - Bae, Jangho
AU - Hong, Daehie
PY - 2013/12/31
Y1 - 2013/12/31
N2 - This paper presents electro-hydraulic servo systems of a robotic excavator with a contour control algorithm. It is very important to precisely move the bucket tip of the excavator to a desired trajectory. There have been many studies to accurately control the bucket dealing with the non-linearity in the hydraulic boom, arm, and bucket cylinders. Beginning with these conventional methods, a new method that focuses on keeping contours rather than just following position commands is presented. In the leveling work, for example, it is more important to maintain linear contour than chasing a position goal. The contour control shares the control effort to make the bucket stay on the path, while slightly sacrificing the position tracking accuracy. After the kinematics of the excavator system were analyzed, the contour control algorithm was developed. The algorithm was applied to leveling work with a real excavator. The experiments showed better performance than using position control alone.
AB - This paper presents electro-hydraulic servo systems of a robotic excavator with a contour control algorithm. It is very important to precisely move the bucket tip of the excavator to a desired trajectory. There have been many studies to accurately control the bucket dealing with the non-linearity in the hydraulic boom, arm, and bucket cylinders. Beginning with these conventional methods, a new method that focuses on keeping contours rather than just following position commands is presented. In the leveling work, for example, it is more important to maintain linear contour than chasing a position goal. The contour control shares the control effort to make the bucket stay on the path, while slightly sacrificing the position tracking accuracy. After the kinematics of the excavator system were analyzed, the contour control algorithm was developed. The algorithm was applied to leveling work with a real excavator. The experiments showed better performance than using position control alone.
KW - Contour control
KW - Intelligent excavator
KW - Leveling work
KW - Robotic excavator
UR - http://www.scopus.com/inward/record.url?scp=84891097445&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84891097445&partnerID=8YFLogxK
U2 - 10.1007/s12541-013-0278-5
DO - 10.1007/s12541-013-0278-5
M3 - Article
VL - 14
SP - 2055
EP - 2060
JO - International Journal of Precision Engineering and Manufacturing
JF - International Journal of Precision Engineering and Manufacturing
SN - 1229-8557
IS - 12
ER -