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

Masatoshi Kozui; Toru Yamamoto; Kazushige Koiwai; Koji Yamashita; Yoichiro Yamazaki

IROS 2019poster1 citations

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

Masatoshi Kozui, Toru Yamamoto, Kazushige Koiwai, Koji Yamashita, Yoichiro Yamazaki

Abstract

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.

BibTeX

@inproceedings{iros2019_applicationofdig,
  title = {Application of Digging Control based on the Center-of-Mass Velocity of the Attachment of a Hydraulic Excavator},
  author = {Masatoshi Kozui and Toru Yamamoto and Kazushige Koiwai and Koji Yamashita and Yoichiro Yamazaki},
  booktitle = {IROS 2019},
  year = {2019}
}