Dynamic model for excavators (and backhoes)

Koivo, A.J.; Ramos, Manuel C.; Thoma, M.

doi:10.1016/s1474-6670(17)47394-0

Cited by 8 publications

(6 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Since the early prototype [18], numerous studies have been conducted to develop components and subsystems for remotely-controlled and teleoperated platforms such as communications protocols, kinematic and dynamic models [25], control and planning [26], soil-tool interaction models [27], simulation and navigation [28]. Apart from academic R&D activities, companies such as ASI Robots Inc. have developed platform-independent systems with controllers and sensors that can be integrated into existing vehicles for teleoperation.…”

Section: Remotely-controlled and Teleoperated Excavatorsmentioning

confidence: 99%

Robotic autonomous systems for earthmoving in military applications

Yen

Balaguer

2019

Automation in Construction

View full text Add to dashboard Cite

Along with increasing innovations in frontier engineering sciences, the advancement in Robotic Autonomous Systems (RAS) has brought about a new horizon in earthmoving processes for construction. In the military domain, there is also an increasing interest in utilising RAS technologies. In particular, ground-based forces are frequently called upon to conduct earthmoving tasks as part of military operations, tasks which could be partially or fully aided by the employment of RAS technologies. There have been rapid developments in military construction automation using high-mobility ground-based platforms, human-machine and machine-machine interfaces, teleoperation and control systems, data transmission systems, machine perception and manipulation capabilities, as well as advances in networked robotics and cyberphysical systems. Given these developments it is timely to undertake a comprehensive overview on the topic of interest to the research community and the authority. This paper presents an overview of the RAS development for platform-centric earthworks together with an analysis of the technical feasibility, maturity, key technical challenges, and future directions for the application of RAS technologies to earthmoving tasks of interest to the army. KeywordsMilitary earthmoving; robotic autonomous systems; technology/system readiness; mode of control 2.2.1Perception Robotic perception represents the sensing and data processing required of an autonomous system to acquire and represent knowledge about its environment. That is, to obtain measurements using various appropriate sensors, to extract meaningful information from those measurements, and to represent the environment in the form of a model that can be updated and interrogated.

show abstract

Section: Remotely-controlled and Teleoperated Excavatorsmentioning

confidence: 99%

Robotic autonomous systems for earthmoving in military applications

Yen

Balaguer

2019

Automation in Construction

View full text Add to dashboard Cite

show abstract

“…Theexcavator kinematics and dynamics can be analysed and derived by assigning coordinate systems to the manipulator configuration of boom, arm and bucket, and applying the Newton-Euler formulation in the local coordinate frame for each link in succession as a free body [27]. In [28], full kinematic and dynamic models of the excavator arm regarded as a planar manipulator with three degrees of freedom (boom, dipper and bucket) are derived using the Lagrangian formulation. A virtual model for excavators was developed for an earthwork site, whose terrain geometry is continuously updated as excavation and earth-moving continue until completion, used to study the interaction between the excavator and its surrounding environment [29].…”

Section: Autonomous Excavationmentioning

confidence: 99%

Earthmoving Construction Automation with Military Applications: Past, Present and Future

Ha¹,

Yen²,

Balaguer³

2018

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

View full text Add to dashboard Cite

Amongst increasing innovations in frontier engineering sciences, the advancements in Robotic and Autonomous Systems (RAS) has brought about a new horizon in construction applications. There is evidence of increasing interest in RAS technologies in the civil construction sector being reflected in construction efforts of many military forces. In particular, Army or ground-based military forces are frequently called upon to conduct construction tasks as part of military operations, tasks which could be partially or fully aided by the employment of RAS technologies. Along with recent advances in the Internet of Things (IoT) and cyberphysical system infrastructure, it is essential to examine the current technical feasibility, maturity, affordability, as well as the challenges and future directions of the adoption and application of RAS to military construction. This paper presents a comprehensive survey and provides a contemporary and industry-independent overview on the state-ofthe-art of construction automation used in defence, spanning current world's best practice through to that which is predicted over the coming years.

show abstract

“…Reference [10] fully documents this instability. For the case of a hydraulic excavator, kinematic and dynamic analyses of the machine motion were derived using Newton -Euler and Euler -Lagrange methods in reference [11][12][13][14].…”

Section: Example Systemmentioning

confidence: 99%

“…Then substituting in equations ( 8) and (11) yields These relationships were derived using straightforward transfer of velocity vector components from one point on a rigid body to another. The result is the matrix relationships in equations ( 8) to (12). For convenience, the matrices from equations ( 9) and ( 10) are written as M P2 t for equation (9) and M P2 b for equation (10).…”

Section: Kinematics and The Flow Componentsmentioning

confidence: 99%

“…The boom inertia and chassis inertia are shown on 1-junctions with their associated velocity (flow) components. These flow components are causal inputs to the MTF elements with causal outputs of the velocity components from equations ( 9), (10), and (12). Also identified on the bond graph fragment are force and torque (i.e.…”

Section: Kinematics and The Flow Componentsmentioning

confidence: 99%

See 1 more Smart Citation

Bond Graph Modelling for Non-Linear Hydro-Mechanical Systems

Margolis

Shim

2005

Proceedings of the Institution of Mechanical Engineers, Part K:

View full text Add to dashboard Cite

Bond graphs are a concise pictorial representation of the interactive dynamics of all types of engineering systems. Relatively few symbols are needed to represent these systems, and this includes non-linear mechanics interacting with hydraulic or pneumatic subsystems. Agricultural and construction equipments and vehicles are examples of such complex systems. Assembling overall system models of such complex systems can be very difficult without a unifying procedure that indicates computational causality as the model is developed. Bond graphs allow for the continuous assessment of causality as a model is developed, regardless of the non-linearity of the individual pieces. This causality indicates computational problems and allows the modeller to address these problems prior to deriving equations or attempting to simulate the system. The development of such models is done here as generally as possible, but is applied to an unstable backhoe as an example. The systematic modelling procedures of a backhoe are used for the development of individual subsystems which are then combined into an overall computational model.

show abstract

Dynamic model for excavators (and backhoes)

Cited by 8 publications

References 7 publications

Robotic autonomous systems for earthmoving in military applications

Robotic autonomous systems for earthmoving in military applications

Earthmoving Construction Automation with Military Applications: Past, Present and Future

Bond Graph Modelling for Non-Linear Hydro-Mechanical Systems

Contact Info

Product

Resources

About