Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Chapter
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Chapter
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TY - CHAP
T1 - Some experimental force analysis for automation of excavation by a backhoe excavator.
AU - Hemami, A.
AU - Seward, D. W.
AU - Quayle, S.
PY - 1999
Y1 - 1999
N2 - Automating the excavation function of an excavator is a complex control problem, because of the nature of the interaction between the cutting tool and the medium and the many parameters that are involved in the process. A fundamental question that is not yet resolved is the choice of parameters to be used in a feedback loop for the control of the process, and the control algorithm. Based on a previous proposition for the control algorithm to be used for this purpose, knowledge about the forces involved may be used for adjusting the motion of the bucket. In this paper, some results of experimental measurements of the excavation forces are presented. These forces cannot be measured directly on the bucket, but the kinematic and dynamic relations can serve for this purpose. The paper talks about the development of these relations, and then the results are presented and discussed.
AB - Automating the excavation function of an excavator is a complex control problem, because of the nature of the interaction between the cutting tool and the medium and the many parameters that are involved in the process. A fundamental question that is not yet resolved is the choice of parameters to be used in a feedback loop for the control of the process, and the control algorithm. Based on a previous proposition for the control algorithm to be used for this purpose, knowledge about the forces involved may be used for adjusting the motion of the bucket. In this paper, some results of experimental measurements of the excavation forces are presented. These forces cannot be measured directly on the bucket, but the kinematic and dynamic relations can serve for this purpose. The paper talks about the development of these relations, and then the results are presented and discussed.
KW - Construction equipment
KW - Bucket excavator
KW - Experimental study
KW - Automation
KW - Excavating
KW - Force measurement
KW - Mathematical model
KW - Kinematics
KW - Experimental result
KW - International conference
M3 - Chapter
SP - 503
EP - 508
BT - Proceedings of the 16th IAARC/IFAC/IEEE international symposium on automation and robotics in construction
CY - Madrid
ER -