Application of Digging Control based on the Center-of-Mass Velocity of the Attachment of a Hydraulic Excavator

被引：0
|
作者：
Kozui, Masatoshi [1 ]
Yamamoto, Toni [1 ]
Koiwai, Kazushige [2 ]
Yamashita, Koji [2 ]
Yamazaki, Yoichiro [2 ]
机构：
[1] Hiroshima Univ, Grad Sch Engn, 1-4-1 Kagamiyama, Hiroshima 7398527, Japan
[2] KOBELCO Construct Machinery Co Ltd, Saeki Ku, 2-2-1 Itsukaichikou, Hiroshima, Japan
来源：
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2019年
关键词：
D O I：
10.1109/iros40897.2019.8968178
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Superior operation skills for hydraulic excavators are learned over time. Therefore, it is difficult to improve the skills of non-expert operators quickly, and their work needs to be supported. This paper presents a control system, which realizes smooth digging (similar to that performed by expert operators), based on the Center of Mass velocity of the attachment as an index. In addition, corresponding to the system switching caused by the digging reaction force, a controller gain tuning method that uses the Fictitious Exogenous Signal is proposed. The proposed method is applied to a hydraulic excavator, and its effect is verified.
引用
收藏
页码：2314 / 2319
页数：6
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