Gravitational and friction terms play an important role in achieving high performance control of heavy-duty hydraulic machines, such as excavators. In this paper, a new approach for decoupled estimation of the gravitational parameters is presented. Static experiments are carried out with an instrumented computer-controlled mini excavator to estimate the gravitational parameters. Load pins are u...

Sesuai dengan observasi peneliti pada TPA Bukit Pinang mempunyai permasalahan dimana jumlah alat berat yang ada tidak sesuai volume sampah ditangani setiap harinya. Maka dari itu penelitian ini akan berfokus pengoptimalkan pemakaian menggunakan metode integer linier programming fungsi tujuan meminimasi berdasarkan skala produktivitas. Nilai variabel keputusan adalah 3 unit dan 5 unit. Kesimpula...

The demand and the potential for automation in construction sector is unmatched, particularly increasing environmental sustainability, improving worker safety reducing labor shortages. We have developed an autonomous walking excavator - based one of most versatile machines found on sites as way to begin fulfilling this potential. This article describes process converting off-the-shelf machine i...

This research focuses on the problem of increasing productivity for the task of autonomous mass excavation. Autonomous excavation has the benefits of higher productivity, lower labor costs, increased safety, and the ability to work in hazardous environments. Mass excavation involves rapidly loading trucks with soil/rock/ore using a mobile digging machine with a bucket on an arm-like appendage. ...

The concept of advanced maintenance management technique in the field of heavy duty mining machinery/equipment has recently been developed in India. This maintenance concept has the significance of creating a support system for mining equipment functioning. Functional maintenance is one of the most frequently used methods in maintenance management for mining industries. Management of a custom b...

A bstractThis paper presents a feedback linearisation approach to the control of electrohydraulicservo systems of a robotic excavator. The control system of the bucket hydraulic cylinder is used as a testbed. Simulation and experimental results are provided. The results obtained demonstrate the advantage of the proposed controller over conventional linearised controllers in dealing with nonline...

The bucket positioning of the excavator in three-dimensions (3-D) is precondition robotic starting automatized works. electric one most widely used machinery mining industry, mainly due to its versatility and portability. Among tasks performed by excavator, there a significant number repetitive movements associated with moving unloading point back face. Using automated functions perform such wi...