520 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掘削経路計画(GS-15・17 油圧機器)

概要

論文の詳細を見る
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 are necessary in operating. 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 an error system which eliminates both position and velocity error for motion control, using the potential method, it was confirmed that this system was effective for the path planning of the excavation.
社団法人日本機械学会の論文
2001-03-16