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Contour control for leveling work with robotic excavator

Authors
  • Lee, Chang Seop1
  • Bae, Jangho1
  • Hong, Daehie2
  • 1 Korea University, Graduate School of Mechanical Engineering, 5-1, Anam-dong, Sungbuk-gu, Seoul, 136-713, Korea , Seoul (South Korea)
  • 2 Korea University, School of Mechanical Engineering, 5-1, Anam-dong, Sungbuk-gu, Seoul, 136-713, Korea , Seoul (South Korea)
Type
Published Article
Journal
International Journal of Precision Engineering and Manufacturing
Publisher
Springer Berlin Heidelberg
Publication Date
Dec 04, 2013
Volume
14
Issue
12
Pages
2055–2060
Identifiers
DOI: 10.1007/s12541-013-0278-5
Source
Springer Nature
Keywords
License
Yellow

Abstract

This paper presents electro-hydraulic servo systems of a robotic excavator with a contour control algorithm. It is very important to precisely move the bucket tip of the excavator to a desired trajectory. There have been many studies to accurately control the bucket dealing with the non-linearity in the hydraulic boom, arm, and bucket cylinders. Beginning with these conventional methods, a new method that focuses on keeping contours rather than just following position commands is presented. In the leveling work, for example, it is more important to maintain linear contour than chasing a position goal. The contour control shares the control effort to make the bucket stay on the path, while slightly sacrificing the position tracking accuracy. After the kinematics of the excavator system were analyzed, the contour control algorithm was developed. The algorithm was applied to leveling work with a real excavator. The experiments showed better performance than using position control alone.

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