ファジィ理論による油圧ショベルの自動掘削

概要

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We have developed a digging controller using fuzzy logic in order to automate digging work using a hydraulic excavator. The controller has a group of boom and bucket control rules according to digging and dipping areas. Boom control rules will maintain stick pressure to the target value. Bucket control rules will operate according to stick and bucket velocitis. And we present an auto tuning function for boom control rules. In this paper, we describe the control details of the digging controller, test results obtained from field machinery, and results of comparison and evaluation of the auto digging with the digging by skilled operators. The use of the controller showed that the automatic digging performance would be able to be realized to be the same as skilled operators in the various soil conditions.
一般社団法人日本機械学会の論文
2000-10-25