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
- 학술저널
- 저자정보
- 발행연도
- 2015.9
- 수록면
- 298 - 311 (14page)
이용수
초록· 키워드
오류제보하기
Nowadays, automatic digging operation of an excavator is a big challenge due to the complexity of digging environment, the hardness of soil and buried obstacles into the ground. In order to achieve the maximum soil bucket volume, this paper introduces a novel engineering model that was developed as a virtual excavator in the design phase. Through this model, the designs of mechanical and control systems for autonomous excavator are executed and modified easily before developing in real testbed. Based on a concept of an autonomous excavation, a mechanical system of excavator was first designed in SOLIDWORKS, and a soil model also was modeled by finite-element analysis in ANSYS, both modeled models were then exported to ADAMS environment to investigate the digging behavior through virtual simulation. An intelligent control strategy was generated in MATLAB/Simulink to control the excavator operation. The simulation results were demonstrated by effectiveness of the proposed excavator robot in testing scenarios with many soil types and obstacles.
목차
ABSTRACT
1. Introduction
2. Analysis of the digging behavior of an autonomous excavator
3. Developing a virtual excavation model based on the virtual technology
4. Strategy for self-adapting excavation behavior
5. Simulation results and discussion
6. Conclusion
References
참고문헌 (19)
참고문헌 신청
[학술지(정기간행물)] - 박홍석 / 2012 / Modeling and Controlling the Mobile Harbour Crane System with Virtual Prototyping Technology / International Journal of Control, Automation, and Systems 10 (6) : 1204 ~ 1214
[학술대회논문] - Lee, S. / 2008 / Optimal Path Generation for Excavator with Neural Networks Based Soil Models / Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems : 632 ~ 637
[학술지(정기간행물)] - Davoudi, S. / 2008 / A Two Dimensional Finite Element Analysis of a Plane Tillage Tool in Soil Using a Non-linear Elasto-Plastic Model / American-Eurasian J. Agric. & Environ. Sci. 3 : 498 ~ 505
[학술지(정기간행물)] - Yousefi Moghaddam, R. / 2012 / Method and Apparatus for Online Estimation of Soil Parameters during Excavation / Journal of Terra Mechanics 49 (3-4) : 173 ~ 181
[학술대회논문] - Tan, C. P. / 2005 / Online Soil-bucket Interaction Identification for Autonomous Excavation / Proceedings of IEEE International Conference on Robotics and Automation : 3576 ~ 3581
[학술대회논문] - Lee, S. / 2008 / Optimal Path Generation for Excavator with Neural Networks Based Soil Models / Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems : 632 ~ 637
[학술지(정기간행물)] - Davoudi, S. / 2008 / A Two Dimensional Finite Element Analysis of a Plane Tillage Tool in Soil Using a Non-linear Elasto-Plastic Model / American-Eurasian J. Agric. & Environ. Sci. 3 : 498 ~ 505
[학술지(정기간행물)] - Yousefi Moghaddam, R. / 2012 / Method and Apparatus for Online Estimation of Soil Parameters during Excavation / Journal of Terra Mechanics 49 (3-4) : 173 ~ 181
[학술대회논문] - Tan, C. P. / 2005 / Online Soil-bucket Interaction Identification for Autonomous Excavation / Proceedings of IEEE International Conference on Robotics and Automation : 3576 ~ 3581
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UCI(KEPA) : I410-ECN-0101-2016-580-001923906