The Design, Development and Operation of an Autonomous Robotic Excavator

Bradley, David; Seward, Derek

doi:10.1007/978-94-011-4790-3_21

Cited by 34 publications

(52 citation statements)

References 18 publications

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“…So base on the work done in this paper, the telecontrol of excavator can be realized if communication system is developed; and automatic excavation can be achieved if the trajectory programming is completed. Appendix: Fig.7 experiment of the boom's angle control 3 …”

Section: Experiments and Conclusionmentioning

confidence: 99%

“…For such reasons difficulties exist in controlling a robotic excavator. To solve these problems, several research works have been performed, which may be categorized as either studies based on rules (for instance, in [3] [5]) or model base studies (for example, in [1] [2] [4]). This paper presents a discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve and the nonlinear of the whole system, the error is deal with robust feedback and an adaptive robust controller is designed.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Controlling for Hydraulic Excavator's Arm

Zhang¹,

He²,

Hao³

2005

Proceedings of the 22nd International Symposium on Automation and Robotics in Construction

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Abstract-Controlling of excavator's arm is an important and basic task in autonomous research of hydraulic excavator at present, but the behavior of the excavator's arm is dominated by the nonlinear dynamics of the hydraulic actuators. To find a feasible way to control excavator's arm and realize autonomous excavation, firstly, Full kinematic and dynamic models of the excavator arm, regarded as a planar manipulator with three degrees (boom, dipper and bucket) of freedom, were derived, the exponential product formula based on screw theory was used in kinematic model, by which objective angular series of the working mechanism was connected with the desired trajectory of the bucket, and the Lagrange equation was used in dynamic model. secondly, because the experimental excavator's LUDV hydraulic system was not fit for computer control, so the excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers), and a computer control system(the motion controller of EPEC), the retrofitted excavator could allow experimental evaluation and refinement of the developed controllers, then ,the full nonlinear math model of electrohydraulic proportional system was achieved; These models included detailed representation of the electrohydraulic actuation system to obtain structural insight into the dynamic behavior of the system; thirdly, According to the highly system dynamic, and parameters uncertainties, external disturbance, the dead region and nonlinear gain coefficient of the proportional direction valve, this paper presents a discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve and the nonlinear of the whole system, the error is deal with robust feedback and an adaptive robust controller was designed. Finally, the experiment of the boom motion control is presented to illustrate the feasibility. The thesis covered some phases from modeling to theoretical analysis of controller designs, and to implementation and experimental validation of the new control schemes. These efforts had resulted in new control design methodologies that were applicable to several hydraulic proportional systems when high control performance is required in the presence of severe nonlinearity and uncertainty.

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Section: Experiments and Conclusionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Controlling for Hydraulic Excavator's Arm

Zhang¹,

He²,

Hao³

2005

Proceedings of the 22nd International Symposium on Automation and Robotics in Construction

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“…Many previous studies have investigated this topic. For example, Bradley and Seward reported an implementation of an autonomous robotic excavator controlled by traditional rule-based artificial intelligence [3]. Yamamoto et al produced an autonomous trench digging system for soil [4].…”

Section: Introductionmentioning

confidence: 99%

Imitation-based control of automated ore excavator: improvement of autonomous excavation database quality using clustering and association analysis processes

et al. 2017

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To perform productive autonomous excavation of a fragmented rock pile, it is necessary to recognize the condition of the fragmented rock pile and to plan appropriate excavation motions depending on the fragmented rock pile condition. In our previous work, we have proposed an imitation-based motion planning method and developed a recognizer of the rock pile condition and a motion planner. Experimental results using a 1/10-scale excavation model have demonstrated the fundamental feasibility. They have also revealed that both the number and diversity of learning data must be considered to achieve high-productive excavation. In this paper, to use learning data more effectively and to diversify the autonomous excavation database, clustering and association analysis processes are applied to the learning data. We propose a method to improve the database quality using results of those processes. The method merges two bipolar compositions; one follows natural conditions and the other is modified intentionally based on the occurrence and usage frequency. The experiment verifies the effectiveness of the proposed method and clarifies that the database contents can be adjusted based on the occurrence frequency of rock pile conditions and usage frequency of the excavation motions. ARTICLE HISTORY

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“…Especially industrial machines, like excavators or material handlers, operating in harsh environmental conditions, are almost exclusively driven by hydraulic actuators. As documented by numerous articles, there is a strong trend of fully or at least partially automating such machines [2,15]. Automation promises to increase efficiency, productivity as well as safety.…”

Section: Introductionmentioning

confidence: 99%

Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces

Koch

Reichhartinger

2016

Elektrotech. Inftech.

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A laboratory hydraulic setup consisting of a coupled actuating and load cylinder is investigated in order to emulate real world working conditions of heavy equipment such as excavators and loaders. An observer-based control scheme is proposed to regulate the position of the actuating cylinder. It relies on on-line identification of unknown parameter as well as reconstruction and compensation of unknown load forces, such that the performance of the closed position feedback loop is superior compared to classical control strategies. The applied method exploit ideas of variable structure systems in the design of both, the observer and the parameter identification scheme.Keywords: robust control; sliding mode control; robust exact differentiation; finite time parameter estimation; uncertain systems; hydraulic actuator Beobachterbasierte Sliding Mode-Regelung eines Hydraulikzylinders unter unbekannten Lastkräften.

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The Design, Development and Operation of an Autonomous Robotic Excavator

Cited by 34 publications

References 18 publications

Modeling and Controlling for Hydraulic Excavator's Arm

Modeling and Controlling for Hydraulic Excavator's Arm

Imitation-based control of automated ore excavator: improvement of autonomous excavation database quality using clustering and association analysis processes

Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces

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