Modelling and remote control of an excavator

Abstract

Abstract-This paper reposts the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.

Robust Adaptive Controller Design for Excavator Arm

“…To evaluate the correctness and suitability of the proposed robust adaptive controller, the algorithm was set and simulated in Simulink software with an excavator system given parameters as the following [18] The parameter for the control law is chosen by practical method (trial-and-error):…”

Robust adaptive controller design for excavator arm

“…To evaluate the correctness and suitability of the proposed robust adaptive controller, the algorithm was set and simulated in Simulink software with an excavator system given parameters as the following [18] The parameter for the control law is chosen by practical method (trial-and-error):  =diag (1), K=diag (2x10 6 , 1.5x10 6 , 10 5 ),  k =1, '…”

“…The Euler-Lagrange model of excavator arm during the digging process corresponding to the coordinates of each join as shown in Figure 1 is as follow [18]:…”

Implementation of remotely controllable mobile robot system over mobile ad-hoc network

“…The architecture and the typical functions are shown in Figure 2. The performance of a robot's trajectory following tasks is investigated in [7] where the wireless mobile robot and network are simulated by Simulink and Opnet, respectively. The paper uses a 2-level controller to follow the desired trajectories.…”