Comparison of joint angle, velocity and acceleration estimators for hydraulically actuated manipulators to a novel dynamical approach

Wind, Hannes; Renner, Anton; Schaut, Stefan; Albrecht, S.; Sawodny, Oliver

doi:10.1016/j.conengprac.2019.104118

Cited by 13 publications

(5 citation statements)

References 26 publications

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“…The transformation matrix of D-H coordinates is used to analyse and solve the Forward Kinematics of the working device, and the Inverse Kinematics of the working device is analysed by geometrical method, and the coordinate transformation between the tooth tip coordinates of the working device of the excavator, and the joint rotation angle is completed. [10] [11] The following is a forward solution of the kinematic equations.…”

Section: Establishment Of D-h Coordinates Of the Excavator's Working ...mentioning

confidence: 99%

Predictive Algorithm Based Control Method for Safe Operation of Excavators in a Restricted Area

Wang,

Zheng,

et al. 2024

Advances in Transdisciplinary Engineering

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This paper proposes a control method for an excavator under a limited area, which designs a prediction algorithm based on the distance between the excavator and the obstacle. Through this method, it can be ensured to the maximum extent that the excavator will not have safety accidents due to human operation errors and other reasons. The method is validated on a tracked excavator, confirming the effectiveness of the algorithm. Field tests showed that the excavator joints could be stopped within 20cm of the obstacle and were only allowed to move in the direction away from the obstacle.

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Section: Establishment Of D-h Coordinates Of the Excavator's Working ...mentioning

confidence: 99%

Predictive Algorithm Based Control Method for Safe Operation of Excavators in a Restricted Area

Wang,

Zheng,

et al. 2024

Advances in Transdisciplinary Engineering

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“…Even if high‐performance components enable optimized load adaptation, a corresponding construction method is susceptible to structural damage as long as the intended shape has not been achieved and the building is still under construction. Methods for precise position and force control as well as model‐based assistance functions for vibration damping and path planning based on these can minimize this risk 32 . If these are also applied in cooperative assembly processes in which, for example, two crawler cranes or another tower crane work together, the basis for innovative construction systems is created.…”

Section: Co‐design In Research Networkmentioning

confidence: 99%

Integrative computational design and construction: Rethinking architecture digitally

Knippers

Kropp

Menges

et al. 2021

Civil Engineering Design

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Increasing the construction capacity, while at the same time significantly reducing harmful emissions and consumption of nonrenewable resources, and still providing a liveable and affordable built environment, provides a great challenge for future construction. In order to achieve this, both the productivity of construction processes and the energy and resource efficiency of construction systems have to be improved in a reciprocal process. Digital technologies make it possible to address these challenges in novel ways. The vision of this Cluster of Excellence IntCDC at the University of Stuttgart and the Max Planck Institute for Intelligent Systems is to harness the full potential of digital technologies to rethink design and construction based on integration and interdisciplinarity, with the goal of laying the methodological foundations to profoundly modernize the design and construction process and related building systems by adopting a systematic, holistic and integrative computational approach. One key objective is to develop an overarching methodology of “co‐designing” methods, processes and systems based on interdisciplinary research encompassing architecture, structural engineering, building physics, engineering geodesy, manufacturing and systems engineering, computer science and robotics, and humanities and social sciences. In this way, the Cluster aims to address the ecological, economic and social challenges and to provide the prerequisites for a high‐quality and sustainable built environment and a digital building culture.

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“…Auch wenn Hochleistungsbauteile eine optimierte Lastanpassung ermöglichen, ist eine entsprechende Bauweise anfällig gegenüber strukturellen Schäden, solange die vorgesehene Form nicht erreicht ist und sich das Gebäude noch im Aufbau befindet. Verfahren für eine präzise Positions‐ und Kraftregelung sowie darauf aufbauende modellbasierte Assistenzfunktionen für die Schwingungsdämpfung und Bahnplanung können dieses Risiko minimieren [32]. Finden diese zudem Anwendung in kooperativen Montageprozessen, in denen z.…”

Section: Co‐design In Forschungsnetzwerkenunclassified

Integratives computerbasiertes Planen und Bauen: Architektur digital neu denken

et al. 2021

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Die Herausforderung an das Bauen der Zukunft besteht darin, mehr zu bauen, dabei weniger Schadstoffe zu emittieren und weniger endliche Ressourcen zu verbrauchen und trotzdem eine qualitätsvolle und lebenswerte gebaute Umwelt zu schaffen. In einem sich wechselseitig beeinflussenden Prozess müssen hierfür sowohl die Produktivität der Bauprozesse als auch die Energie‐ und Ressourceneffizienz der Bausysteme verbessert werden. Digitale Technologien bieten neue Lösungsansätze für diese Herausforderungen. Ziel des Exzellenzclusters IntCDC an der Universität Stuttgart und dem Max‐Planck‐Institut für Intelligente Systeme ist es, das volle Potenzial digitaler Technologien zu nutzen, um das Planen und Bauen in einem integrativen und interdisziplinären Ansatz neu zu denken und damit die methodischen Grundlagen für eine umfassende Modernisierung des Bauschaffens zu legen. Eine zentrale Zielsetzung ist die Entwicklung einer übergeordneten Methodologie des „Co‐Design“ von Methoden, Prozessen und Systemen, basierend auf interdisziplinärer Forschung zwischen den Bereichen Architektur, Bauingenieurwesen, Ingenieurgeodäsie, Produktions‐ und Systemtechnik, Informatik und Robotik sowie Geistes‐ und Sozialwissenschaften. So sollen Lösungswege für die ökologischen, ökonomischen und sozialen Herausforderungen aufgezeigt und die Voraussetzungen für eine qualitätsvolle, lebenswerte und nachhaltige gebaute Umwelt sowie für eine digitale Baukultur geschaffen werden.

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Comparison of joint angle, velocity and acceleration estimators for hydraulically actuated manipulators to a novel dynamical approach

Cited by 13 publications

References 26 publications

Predictive Algorithm Based Control Method for Safe Operation of Excavators in a Restricted Area

Predictive Algorithm Based Control Method for Safe Operation of Excavators in a Restricted Area

Integrative computational design and construction: Rethinking architecture digitally

Integratives computerbasiertes Planen und Bauen: Architektur digital neu denken

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