Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of Position and Force Control by Modelling of a Miniatured Excavator

소형 굴삭기의 모델링을 통한 위치 및 힘제어 구현

  • Oh, Myeong Sik (Department of Mechatronics Engineering, Chungnam National University) ;
  • Seo, Ja Ho (Department of Biosystems Machinery Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 오명식 (충남대학교 메카트로닉스공학과) ;
  • 서자호 (충남대학교 바이오시스템 기계공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2016.04.18
  • Accepted : 2016.11.18
  • Published : 2016.12.01
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Abstract

This paper presents the implementation and control of a small-scaled excavator system. The commercial miniature of an excavator system has been modified and its control hardware is embedded to access the feedback control. Encoder sensors are attached to the joint and a force sensor is mounted on the end-effector so that feedback position control is accessible as well as force control. The dynamic model of the excavator system is derived as a four linkage robot arm and its control performances are simulated. Experimental studies of contact force control tasks are conducted to test the control algorithm for the excavator system.

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References

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