Transactions of The Korea Fluid Power Systems Society (유공압시스템학회논문집)
- Volume 4 Issue 2
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- Pages.1-6
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- 2007
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- 1738-3315(pISSN)
Geometric Modeling and Trajectory Control Design for an Excavator Mechanism
굴삭기 작업장치부의 기하학적 동역학 모델링 및 궤적 제어에 관한 연구
Abstract
During the last few decades, excavation automation has been investigated to protect the operator from the hazardous working environment and to relieve the cost of the skilled operator. Therefore, a number of modelling and controller design methods of the hydraulic excavator are proposed in many literatures to realize the excavation automation. In this article, a geometric approach far the multi-body system modeling is adopted to develop the excavator mechanism model that contains 4 kinematic loops and 12 links. Considering a simple soil mechanism model with a number of uncertain soil parameters, an adaptive trajectory tracking control strategy based on the developed excavator model is proposed. The improved performance of the designed controller over the simple PID controller is validated via the simulation study.
Keywords