TY - GEN
T1 - Optimal path planning for backhoe based on excavation environment
AU - Park, Hyongju
AU - Shin, Jin Ok
AU - Lee, Sanghak
AU - Hong, Daehie
PY - 2007
Y1 - 2007
N2 - The paper focuses on the establishment of optimized bucket path planning using numerical solution method, for a force-reflecting backhoe which is affected by excavation environment including potential obstacles. The developed path planning method can be used for precise bucket control and more importantly for obstacle avoidance which is directly related to safety issues. An optimal path planning model to minimize energy and to move manipulator arms along a specified path subjected to angular constraints was first established. Simultaneously, path modification due to unexpected obstacles was considered. A Newton-Raphson iteration method was used to acquire angular information of boom, stick, and bucket to solve inverse kinematics. The model presented in this paper was intended to be implemented in further study of force and vibration feedback control of tele-operated excavator using haptic devices.
AB - The paper focuses on the establishment of optimized bucket path planning using numerical solution method, for a force-reflecting backhoe which is affected by excavation environment including potential obstacles. The developed path planning method can be used for precise bucket control and more importantly for obstacle avoidance which is directly related to safety issues. An optimal path planning model to minimize energy and to move manipulator arms along a specified path subjected to angular constraints was first established. Simultaneously, path modification due to unexpected obstacles was considered. A Newton-Raphson iteration method was used to acquire angular information of boom, stick, and bucket to solve inverse kinematics. The model presented in this paper was intended to be implemented in further study of force and vibration feedback control of tele-operated excavator using haptic devices.
KW - Jacobian pseudo-inverse
KW - Joint constraint
KW - Obstacle avoidance
KW - Path planning
UR - http://www.scopus.com/inward/record.url?scp=50249113742&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:50249113742
SN - 9788190423519
T3 - Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
SP - 169
EP - 174
BT - Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
T2 - 24th International Symposium on Automation and Robotics in Construction, ISARC 2007
Y2 - 19 September 2007 through 21 September 2007
ER -