Review of modelling and remote control for excavators

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.

Modelling and remote control of an excavator

“…Secondly, a robust control approach has to be designed to execute the desired excavation tasks. According to these requirements, we proposed a framework of remote control of an excavator in [1]. This paper further expands the work conducted in [1] in the following aspects: 1) modelling of the excavator base; 2) control of the excavator base; 3) robust control of the excavator arm; 4) remote control of the excavator base.…”

“…Value k 1 18.2620 k 2 18.75 k 3 9.8229 k 4 26.5370 k 5 1.0164 k 6 k 6 =2.0028 Table 2 Parameters of the backstepping position control of the excavator base model given in [20]. …”

“…Furthermore, a number of researchers have investigated the feasibility of remotecontrol excavation. Many of these studies have addressed the possible use of the remote control approach on the excavator [1] [8]. However, in a remote-control excavator system, if the operator cannot sense the condition of contact, the work efficiency will decrease in comparison to direct control by the human operator.…”

“…In this paper, we will report the further development based on the work in [1] and will focus on the work from the following two aspects: 1) trajectory tracking control of the excavator base and 2) robust control of the excavator arm. Section II studies the models of the excavator base and the excavator arm.…”

Implementation of a Virtual Autonomous Excavator

“…Moreover, mathematical models have been developed to predict interactive forces between the blade and the soil [4,5]. Excavators equipped with perception systems have been described that recognize the digging environment and generate possible dig paths [6,7]. In addition, fuzzy logic using human heuristics and expert knowledge has been applied to control digging operations [8,9].…”