This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Adaptive Control for Heavy Earthmoving Equipment
Annotation ability available
Sector:
Language:
English
Abstract
The demand for increased performance of heavy earthmoving equipment has spurred the development of computer control for machinery using fluid power systems. Application of standard automatic control components to these systems provides the opportunity to implement advanced control approaches that reduce the operator workload and improve performance. In this work, closed-loop control is applied to the joints of a typical three-link digging device. Because the changing configuration of the device greatly changes the dynamic characteristics, an adaptive control algorithm is introduced to modify the control parameters to maintain consistent performance of the implement.
Authors
Citation
Luecke, G., Zafer, N., and Edwards, J., "Adaptive Control for Heavy Earthmoving Equipment," SAE Technical Paper 981484, 1998, https://doi.org/10.4271/981484.Also In
References
- Seward, D.W. Bradley, D.A Bracewell, R.H. “The Development of Research Models for Automatic Excavation” Proc., 5th lnt. Symp. On Robotics in Constr. Japan Ind. Robot Assoc. Tokyo, Japan 703 708 1988
- Bernold, Leonhard E. “Motion and Path Control for Robotic Excavation.” Journal of Aerospace Engineering 6 1 Jan 1993 1 18
- Koivo, A E. Kocaoglan, E. Andrade-Cetto, J. “Modeling and Control of Excavator Dynamics During Digging Operation” Journal of Aerospace Engineering 9 1 10 18 Jan 1996
- Craig, John J. Introduction to Robotics-Mechanics and Control Massachusetts Addison-Wesley 1986
- Salcudean, S.E. Tafazoli, S. Lawrence, P.D. Chau, I. “Impedance Control of a Teleoperated Mini Excavator” Proc. IEEE lnt. Conf. On Robotics and Automation Monterey, California 7 19 25 July 1997
- Sepehri, N. Lawrence, P.D. Sassani, F. Frenette, R. “Resolved-Mode Teleoperated Control of Heavy-Duty Hydraulic Machines” Transactions of ASME Journal of Dynamic Systems, Measurement and Control 116 232 240 June 1994
- Asada, H. Slotine, J.J. E. Robot Analysis and Control New York, NY John Wiley and Sons 1986
- Vaha, P.K. Skibniewski, M.J. “Dynamic Model of Excavator” Journal of Aerospace Engineering 6 2 148 158 1993
- Luh, J. Y. S. 1983 “Conventional Controller Design for Industrial Robots-A Tutorial” IEEE Trans. Syst, Man, Cyber 13 3 1983 May/June 298 316
- Goldenberg, -A-A Apkarian, -J.-A Smith, -H.-W. “An approach to adaptive control of robot manipulators using the computed torque technique.” Journal-of-Dynamic-Systems,-Measurement-and-Control 111 1 8 1989
- Narendra, K.S. Anaswamy, A M. Stable Adaptive Systems Engelwood Cliffs, New Jersey Prentice-Hall 1989