Control Architectures and Operational Strategies for Intelligent, High-Powered Manipulators

Bradley, David; Seward, Derek; Heikkilä, Tapio; Vähä, Pentti

doi:10.1016/b978-0-444-82044-0.50053-9

Cited by 5 publications

(2 citation statements)

References 4 publications

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“…Recently, new applications using hydraulic manipulators have necessitated a more ambitious specification with respect to positioning accuracy, speed and user-friendliness. These new applications include semiautomatic excavation on building sites [1], loading and unloading of ships with semi-automatic crane systems [2], fully automated washing of commercial airplanes with large manipulators [3] and automated masonry construction on the building site utilizing a mobile robot [4]. In order to meet the demands of these applications, the following problems, which represent challenges for future development, must be met:…”

Section: Introductionmentioning

confidence: 99%

Improving the Dynamic Behavior of a Servodriven Electro-Hydraulic Robotic Manipulator

Pritschow¹,

McCormac²,

Hiller³

et al. 1998

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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The authors detail two servo-control strategies which improve the performance of servodriven electro-hydraulic robotic manipulators. The first servo-controller is pragmatic approach based on both empirical controller design and fuzzy logic and results presented demonstrate that its performance clearly surpasses that of the conventional Pcontroller. The second servo-controller is a robust state-space controller designed by applying the Ackermann parameter space method. This controller uses both the measured angular position and acceleration as state-variables to directly control the angular position of the revolute joints. In order to determine the angular acceleration, a contact free acceleration sensor based on the Ferraris principle has been developed and described in detail. Results are presented which clearly demonstrate the improvement of the servo-control quality through use of the acceleration sensor.

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Section: Introductionmentioning

confidence: 99%

Improving the Dynamic Behavior of a Servodriven Electro-Hydraulic Robotic Manipulator

Pritschow¹,

McCormac²,

Hiller³

et al. 1998

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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“…These goals can be further subdivided into a series of 'activities' [7]. This structure is implemented in real-time using a production rule based AI format.…”

Section: Artificial Melligencementioning

confidence: 99%

Developing real-time autonomous excavation-the LUCIE story

Bradley

Seward²

Proceedings of 1995 34th IEEE Conference on Decision and Control

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Earthworks and earth removal are activities which involve a series of repetitive operations on the part of the machine operator, suggesting opportunities for the automation of these processes with resultant improvements in machine utilisation and throughput. The automation of the earth removal process also provides a number of secondary benefits such as a reduced dependence on operator skills and a lower operator work load.The achievement of automated and robotic excavation in the form of the Lancaster University Computerised Intelligent Excavator or LUCIE was dependent on the implementation of a real-time artificial intelligence based control system utilising a novel form of motion control strategy for movement of the excavator through ground. Based on the systematic observation of a range of machine operators, the control strategy evolved permits the autonomous excavation of a high quality rectangular trench in a variety of types of ground and of the removal of obstacles along the line of that trench. INTRODU~ION THE EXCAVATION PROCESSEarthworks and earth removal are a major activity within the mining and construction industries and are tasks involving what at first glance would seem to be a series of repetitive operations on the part of the machine operator. Also, the plant and machinery involved in these activities has a kinematic layout very similar to that of many industrial robots. On this basis, the automation of the excavation process would seem to offer the opportunity to improve machine utilisation as well as providing benefits such as a reduced dependence on operator skill and a lower operator work load, both of which are likely to contribute to a more consistent, and hence higher quality, result. Other possible benefits include reductions in the labour force and the removal of operators from hazardous environments.Initial considerations suggested that the operation of an autonomous and robotic excavator would depend on an improved understanding of machine behaviour in a number of areas, in particular [1,2]: 0 The motion of the excavator bucket while in the ground, including the mechanics of soil removal. e The identification of the strategies and tactics associated with the removal of soil by an expert operator. 0The inter-relationship between the machine geometry and the operator controls. 0-7803-2685-7/95 $4.00 0 1995 IEEEThe starting point for achieving automated and robotic excavation was initially believed to be a consideration of the geotechnics and soil mechanics of the excavation process and of the procedures used by skilled operators. From this base it was intended that a rule base would be derived which could be used as the basis of an expert system which would oversee the operation of the excavator and which would provide the basis for a real-time AI controller capable of adapting its operation to different operating conditions and environments.Two immediate problems were encountered with an analytical approach based on an understanding of geotechnics and of operator behaviour. Firstly, th...

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The Design, Development and Operation of an Autonomous Robotic Excavator

Bradley

Seward

1999

Advances in Intelligent Autonomous Systems

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Control Architectures and Operational Strategies for Intelligent, High-Powered Manipulators

Cited by 5 publications

References 4 publications

Improving the Dynamic Behavior of a Servodriven Electro-Hydraulic Robotic Manipulator

Improving the Dynamic Behavior of a Servodriven Electro-Hydraulic Robotic Manipulator

Developing real-time autonomous excavation-the LUCIE story

The Design, Development and Operation of an Autonomous Robotic Excavator

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