실린더 출력 힘의 실험적 추정을 통한 굴삭기 궤적제어Trajectory Control of Excavator with Experimental Estimation of Cylinder Output Force
- Other Titles
- Trajectory Control of Excavator with Experimental Estimation of Cylinder Output Force
- Authors
- 오경원; 김동남; 김남훈; 홍대희; 김윤기; 홍석희
- Issue Date
- 2011
- Publisher
- 한국정밀공학회
- Keywords
- Hydraulic Excavator (유압굴삭기); Gravity Compensation (중력보상); Trajectory Control (궤적제어); Remote Control (원격조종)
- Citation
- 한국정밀공학회지, v.28, no.1, pp.48 - 55
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 28
- Number
- 1
- Start Page
- 48
- End Page
- 55
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/114127
- ISSN
- 1225-9071
- Abstract
- Hydraulic excavator is one of the most widely used heavy machines in construction sites including dismantling. In the dismantling sites, the excavators equipped with crusher or breaker carry out dangerous operations, so drivers are always exposed to unexpected danger. For safety operation, remote control of the hydraulic excavator has been studied using proportional control valve, which requires an appropriate motion control of its bucket tip. In this case, kinematics and dynamics analysis have to be preceded through modeling of excavator. However, it is difficult to acquire reasonable results from the analysis due to insufficient information of physical parameters such as mass of each links and locations of mass centers, etc. This study deals with the trajectory control of bucket tip, which is based on experimental estimation of cylinder output force.
The estimated forces are fed into the control of each cylinder in order to compensate gravitational and frictional effects in the cylinders. The control was applied to horizontal trajectories that are for flattening work.
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