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Automated Grading Operation for Hydraulic Excavators
Technical Paper
2014-01-2405
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
Hydraulic excavators perform numerous tasks in the construction and mining industry. Although ground grading is a common task, proper grading cannot easily be achieved. Grading requires an experienced operator to control the boom, arm, and bucket cylinders in a rapid and coordinated manner. Due to this reason, automated grade control is being considered as an effective alternative to conventional human-operated ground grading. In this paper, a path-planning method based on a 2D kinematic model and inverse kinematics is used to determine the desired trajectory of an excavator's boom, arm, and bucket cylinders. Then, the developed path planning method and PI control algorithms for the three cylinders are verified by a simple excavator model developed in Simulink®. The simulation results show that the automated grade control algorithm can grade level or with reduced operation time and error.
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Citation
Xu, J., Thompson, B., and Yoon, H., "Automated Grading Operation for Hydraulic Excavators," SAE Technical Paper 2014-01-2405, 2014, https://doi.org/10.4271/2014-01-2405.Also In
References
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