Model-based automation for heavy duty mobile excavator

Y. H. Zweiri; L. D. Seneviratne; K. Althoefer

Model-based automation for heavy duty mobile excavator

Y. H. Zweiri, L. D. Seneviratne, K. Althoefer

King's College London

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

12 Scopus citations

Abstract

This paper presents an integrated physics based model for a front end mobile excavator. The model describes the dynamic relationship between the operator input commands and the position, orientation, speed and forces of the vehicle and the excavation arm. The dynamic model has the potential to be used in advanced controller design for automated excavation systems. The dynamic model for the excavation system is validated againts measured data. The validation of the model is conducted in collaboration with QinetiQ¹, UK. A PID controller for trajectory tracking is implemented and tested using a computer simulation study. The graphical machine model is developed in the Zed3D graphical environment and all the inputs to the graphical model are taken from the simulation model.

Original language	British English
Pages	2967-2972
Number of pages	6
State	Published - 2002
Event	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 30 Sep 2002 → 4 Oct 2002

Conference

Conference	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Switzerland
City	Lausanne
Period	30/09/02 → 4/10/02

Cite this

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abstract = "This paper presents an integrated physics based model for a front end mobile excavator. The model describes the dynamic relationship between the operator input commands and the position, orientation, speed and forces of the vehicle and the excavation arm. The dynamic model has the potential to be used in advanced controller design for automated excavation systems. The dynamic model for the excavation system is validated againts measured data. The validation of the model is conducted in collaboration with QinetiQ1, UK. A PID controller for trajectory tracking is implemented and tested using a computer simulation study. The graphical machine model is developed in the Zed3D graphical environment and all the inputs to the graphical model are taken from the simulation model.",

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note = "2002 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 30-09-2002 Through 04-10-2002",

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AU - Zweiri, Y. H.

AU - Seneviratne, L. D.

AU - Althoefer, K.

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AB - This paper presents an integrated physics based model for a front end mobile excavator. The model describes the dynamic relationship between the operator input commands and the position, orientation, speed and forces of the vehicle and the excavation arm. The dynamic model has the potential to be used in advanced controller design for automated excavation systems. The dynamic model for the excavation system is validated againts measured data. The validation of the model is conducted in collaboration with QinetiQ1, UK. A PID controller for trajectory tracking is implemented and tested using a computer simulation study. The graphical machine model is developed in the Zed3D graphical environment and all the inputs to the graphical model are taken from the simulation model.

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T2 - 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 30 September 2002 through 4 October 2002

ER -

Model-based automation for heavy duty mobile excavator

Abstract

Conference

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