Optimal path planning for backhoe based on excavation environment

Hyongju Park, Jin Ok Shin, Sanghak Lee, Daehie Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationAutomation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
Pages169-174
Number of pages6
Publication statusPublished - 2007 Dec 1
Event24th International Symposium on Automation and Robotics in Construction, ISARC 2007 - Kochi, India
Duration: 2007 Sep 192007 Sep 21

Other

Other24th International Symposium on Automation and Robotics in Construction, ISARC 2007
CountryIndia
CityKochi
Period07/9/1907/9/21

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Keywords

  • Jacobian pseudo-inverse
  • Joint constraint
  • Obstacle avoidance
  • Path planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Building and Construction

Cite this

Park, H., Shin, J. O., Lee, S., & Hong, D. (2007). Optimal path planning for backhoe based on excavation environment. In Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction (pp. 169-174)