Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2016.16.0081

Implementation of Position and Force Control by Modelling of a Miniatured Excavator  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.12, 2016 , pp. 1034-1039 More about this Journal
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.
Keywords
excavator; feedback control; force control; hardware implementation;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 H. Cho and H. W. Chang, "Active pitch motion control of a hydraulic excavator," Proceeding of the KAMES 2002 Joint Symposium, pp. 681-686, 2002.
2 S. J. Back, Y. K. Son, J. H. Kim, and J. C. Lee, "Reliability qualification test of a unmanned control robot system for an excavator," Transactions of the Korean Society of Mechanical Engineers A, vol. 39, no. 4, pp. 397-403, 2015.   DOI
3 I. K. Jeon, J. K. Lee, S. P. Baek, and K. K. Ahn, "Study on the remote control excavator for high-risk operations," Proc. of 2010 25th ICROS Annual Conference (in Korean), Chuncheon, pp. 479-483, May 2010.
4 Y. J. Nam and M. K. Park, "Virtual excavator simulator featuring HILS and haptic joy sticks," Journal of Mechanical Science and Technology, vol. 29, no. 1, pp. 397-407, 2015.   DOI
5 S. S. Yang, S. M. Jin, J. J. Choi, C. D. Lee, and Y. S. Kim, "A study on tracking control of remote operated excavator," Journal of Drive and Control, vol. 6, no. 4, pp. 68-74.
6 J. J. Choi, "Development of miniaturized automatic excavator with time-varying sliding mode controller," Journal of the Korea Academia-Industrial, vol. 12, no. 8, pp. 3391-3397, 2011.   DOI
7 S. M. Moon and D. H. Hong, "Control algorithm for path generation of intelligent excavator system," Journal of Drive and Control, vol. 12, no. 3, pp. 66-71, 2015.
8 S. K. Kim and B. S. Koo, "A path generation method considering the work behavior of operators for an intelligent excavator," Journal of The Korean Society of Civil Engineers, vol. 30, no. 4D, pp. 433-442, Jul. 2010.
9 S. Jung, T. C. Hsia, and R. G. Bonitz, "Force tracking impedance control of robot manipulators under unknown environment," IEEE Transaction on Control Systems Technology, vol. 12, no. 3, pp. 474-483, May 2004.   DOI
10 T. S. Jin, "Appling of force control of the robotic sweeping machine for grinding," Journal of Korea Institute of Information and Communication Engineering, vol. 18, no. 2, pp. 276-281, Feb. 2014.   DOI
11 M. S. Oh, J. H. Seo, and S. Jung, "Study on Experiment and implementation of Force control for an excavator system," Proc. of 31th ICROS Annual Conference (in Korean), Seoul, pp. 367-368, May 2016.