Space Positioning of the 5-DOF Robotic Excavator
The carriage positioning of excavator in threedimensions(3-D) is the precondition of the robotic excavator starting roboticized works. In order to get the carriage position of excavator in threedimensional space, angle sensors of such joints as bucket, arm, boom, and boom deflection are brought to bear. At the same time, a 2D-inclination sensor is introduced to check the list and pitch angles of the platform, and a rotatory angle sensor is introduced to check swing angle of the platform. And a laser receiver was mounted on the arm to measure the relative height of the arm to the laser beam from ground sender. Then the kinematic model is established, the coordinate transformation matrix of carriage positioning is formulated, and the height of the body relative to the ground is gotten. As a result, the coordinate transformation matrix of the bucket relative to the ground and the digging depth are formulated. That makes the excavator orient bucket precisely and set excavation depth exactly, and make automotive elaborate excavation come true.
Excavator Robot Carriage positioning Laser height-finding Depth control
Xi-hua Xie Liang Zhou Qing-hua He
College of Mechanical and Electronical Engineering, Central South University, Changsha,Hunan,410083,China
国际会议
合肥
英文
3531-3535
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）