지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 703 - 707 (5page)
이용수
초록· 키워드
오류제보하기
Excavator is used in general versatile construction operations such as digging, carrying loads, grounding and dumping loads. However, it is not safe for the worker to operate the excavator on the risk environments. Consequently, excavator’s unmanned research focused on a few universities and companies are being studied. One of the most important things for researching automation of excavator is control of excavator. To find a feasible way to control excavator, firstly the Full Kinematic and dynamic model of the excavator’s manipulator which three degrees of freedom were studied. The inverse kinematic equations are used to determine the joint angles and the actuator lengths corresponding to a specific position and orientation of the bucket, given in the base coordinate system. This paper will present a PID-computed torque control and design of a virtual excavating system base on real-time simulation. Some simulation results are given.
목차
Abstract
1. INTRODUCTION
2. KINEMATICS AND INVERSE KINEMATIC OF EXCAVATOR
3. DISTRIBUTE THE VIRTUAL EXCAVATOR
4. REAL-TIME SIMULATION OF THE HYDRAULIC EXCAVATOR’S OPERATING USING XPC TARGET:
5. CONTROL OF VIRTUAL EXCAVATOR
6. CONCLUSION
REFERENCES
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