Behavior-based Arm Control for an Autonomous Bucket Excavator
نویسندگان
چکیده
The paper at hand presents a novel, biologically inspired approach to numerically solve the inverse kinematics problem of arbitrary kinematic chains without instability problems and with low computational complexity. The kinematic chain of the robot arm is transferred to a network of behavior-based joint controllers, which try to deliver the best control value to solve the global problem. By means of controlling a wheeled excavator robot arm, the capabilities of this approach to work for redundant structures with the desired precision are shown.
منابع مشابه
A Critical Review on Kinematics of Hydraulic Excavator Backhoe Attachment
The Hydraulic excavator machines are heavy duty earth mover consisting of a boom, arm and bucket. It works on principle of hydraulic fluid with hydraulic cylinder and hydraulic motors. The Hydraulic excavator backhoe operation require coordinated movement of boom, arm and bucket to control the bucket tip position by following a desired trajectory and to use the excavator machines effectively in...
متن کاملAvoidance of Earth Obstacles for Intelligent Excavator
In this paper, we develop an algorithm for avoidance of earth obstacles using model-reference impedance control for autonomous excavator. There have been many research in the past regarding autonomous excavation, which were only concerned about position control, force control and path generation. However in order to apply the control system or algorithm to the actual autonomous excavation, it i...
متن کاملEvaluation of the position accuracy of the excavator tool
The automation and robotics for earth moving machines were introduced to reduce labor cost and increase machines performances , the increment of position accuracy of the excavator bucket obtained by laser and/or automatic control systems meets both objects. Experimental tests and simulations have shown excavating accuracy to be about two centimeters , the excavating accuracy depends on position...
متن کاملAn autonomous excavator for landscaping tasks
In the present day the use of big modern construction machines has considerably improved the building process and therefore increased the output. Autonomous machines could define the next milestone in this area, as such machines can prevent human beings from working in hazardous environments, improve many of the occurring processes and additionally lead to higher earnings for construction compa...
متن کاملImpedance Control of a Teleoperated Mini Excavator
A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and presents supporting experimental results. First, the problem of impedance control for a single hydraulic actuator is addressed and a method is presented for stability analysis. Steady-state position and force tracking of the close...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2012