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 language | English |
|---|---|
| Title of host publication | Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction |
| Pages | 169-174 |
| Number of pages | 6 |
| Publication status | Published - 2007 Dec 1 |
| Event | 24th International Symposium on Automation and Robotics in Construction, ISARC 2007 - Kochi, India Duration: 2007 Sep 19 → 2007 Sep 21 |
Other
| Other | 24th International Symposium on Automation and Robotics in Construction, ISARC 2007 |
|---|---|
| Country | India |
| City | Kochi |
| Period | 07/9/19 → 07/9/21 |
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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
Optimal path planning for backhoe based on excavation environment. / Park, Hyongju; Shin, Jin Ok; Lee, Sanghak; Hong, Daehie.
Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction. 2007. p. 169-174.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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 - 2007/12/1
Y1 - 2007/12/1
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
UR - http://www.scopus.com/inward/citedby.url?scp=50249113742&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:50249113742
SN - 9788190423519
SP - 169
EP - 174
BT - Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
ER -