1214 油圧ショベルの自動化に関する研究 : ポテンシャル法を用いた経路計画(GS-15 ロボティクス・メカトロニクス)

概要

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Hydraulic excavator has been widely used in construction machines due to its multifunction. However, it is difficult to obtain desired trajectory or response because high-level techniques in operating are necessary. Robotized machines have been required to improve labor-saving, safety and productivity in construction works. The purpose of this study is automatic digging operation of a hydraulic excavator. For experiments of excavating operation, a hydraulic excavator is reconstructed to be driven by servovalves, and we applied a disturbance observer and the error system which eliminates both position and velocity error for motion control, and used a potential method for path planning.
社団法人日本機械学会の論文
2000-03-16