A study on gain scheduling of intelligent excavator

Chang Seop Lee; Dongnam Kim; Baeksuk Chu; Daehie Hong

A study on gain scheduling of intelligent excavator

Chang Seop Lee, Dongnam Kim, Baeksuk Chu, Daehie Hong

School of Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

One of the most important factors in Intelligent Excavator is to locate the bucket quickly and accurately to the right position. To locate the bucket accurately, the Arm and the hydraulic cylinder of the boom should be exactly controlled. But as voltage and the force that should be controlled can be different by the positioning of the excavator, exact controlling is a difficult task. For more accurate control of position of bucket tip, we are going to apply gain scheduling algorithm. In this paper, we looked on how much the excavator could be controlled with gain scheduling algorithm.

Original language	English
Pages	139-146
Number of pages	8
Publication status	Published - 2010
Event	27th International Symposium on Automation and Robotics in Construction, ISARC 2010 - Bratislava, Slovakia Duration: 2010 Jun 25 → 2010 Jun 27

Other

Other	27th International Symposium on Automation and Robotics in Construction, ISARC 2010
Country/Territory	Slovakia
City	Bratislava
Period	10/6/25 → 10/6/27

Keywords

Control
Gain scheduling
Intelligent excavator
Position control

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Building and Construction

Cite this

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note = "27th International Symposium on Automation and Robotics in Construction, ISARC 2010 ; Conference date: 25-06-2010 Through 27-06-2010",

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AU - Kim, Dongnam

AU - Chu, Baeksuk

AU - Hong, Daehie

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N2 - One of the most important factors in Intelligent Excavator is to locate the bucket quickly and accurately to the right position. To locate the bucket accurately, the Arm and the hydraulic cylinder of the boom should be exactly controlled. But as voltage and the force that should be controlled can be different by the positioning of the excavator, exact controlling is a difficult task. For more accurate control of position of bucket tip, we are going to apply gain scheduling algorithm. In this paper, we looked on how much the excavator could be controlled with gain scheduling algorithm.

AB - One of the most important factors in Intelligent Excavator is to locate the bucket quickly and accurately to the right position. To locate the bucket accurately, the Arm and the hydraulic cylinder of the boom should be exactly controlled. But as voltage and the force that should be controlled can be different by the positioning of the excavator, exact controlling is a difficult task. For more accurate control of position of bucket tip, we are going to apply gain scheduling algorithm. In this paper, we looked on how much the excavator could be controlled with gain scheduling algorithm.

KW - Control

KW - Gain scheduling

KW - Intelligent excavator

KW - Position control

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Y2 - 25 June 2010 through 27 June 2010

ER -

A study on gain scheduling of intelligent excavator

Abstract

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Keywords

ASJC Scopus subject areas

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