Study on The Track Planner for Automated Excavation of Hydraulic Excavators

摘要：

Based on the kinematics analysis of hydraulic excavators, the kinematics model for the automated excavation tasks is proposed in this paper. Following the desired path for specific defined excavation tasks, a track planner is developed to generate control signals for all three cylinders coordinately to control the track of the bucket tip. Also, a visual interactive tool for the track planner is developed by means of the MTALAB GUI. The test results show that the control signals derived from the track planner can be applied by general PID controller to accomplish the automated excavation function for any hydraulic excavator. After the excavation plan being determined, the control signals can be achieved easily by knowing the geometry parameters of the excavator linkage system.

关键词： automated excavation tracking track plan GUI

作者: Jin Yanchao Gao Yingjie Zhang Qin

作者单位: 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

会议类型: 国际会议

会议名称: The Fifth International Symposium on Fluid Power Transmission and Control(ISFP2007)（2007年国际流体动力传输与控制学术会议）

会议地点: 北戴河

会议语种:英文

页码: 458-463

在线出版日期: 2007-06-06（万方平台首次上网日期，不代表论文的发表时间）