Motion Planning Based Coordinated Control for Hydraulic Excavators
Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Use of automated functions to perform such repeatable and tedious jobs, it will not only greatly increase the overall productivity but more importantly also improve the operation safety. To investigate the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. Based on the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.
Hydraulic excavator Motion Planning Coordinated Control
Gao Yingjie Jin Yanchao Zhang Qin
The Key Lab of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao Department of Agricultural and Biological Engineering, University of Illinois at Urbana-Champaign, U
国际会议
北戴河
英文
847-851
2007-06-06（万方平台首次上网日期，不代表论文的发表时间）