Automated Grading Operation for Hydraulic Excavators The University of Alabama

Format:

Conference/Event

Author/Creator:

Xu, Xu, author.

Contributor:

Thompson, Bradley

Yoon, Hwan-Sik

Conference Name:

SAE 2014 Commercial Vehicle Engineering Congress (2014-10-07 : Rosemont, Illinois, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2014

Summary:

AbstractHydraulic excavators perform numerous tasks in the construction and mining industry. Although ground grading is a common task, proper grading cannot easily be achieved. Grading requires an experienced operator to control the boom, arm, and bucket cylinders in a rapid and coordinated manner. Due to this reason, automated grade control is being considered as an effective alternative to conventional human-operated ground grading. In this paper, a path-planning method based on a 2D kinematic model and inverse kinematics is used to determine the desired trajectory of an excavator's boom, arm, and bucket cylinders. Then, the developed path planning method and PI control algorithms for the three cylinders are verified by a simple excavator model developed in Simulink®. The simulation results show that the automated grade control algorithm can grade level or with reduced operation time and error

Notes:

Vendor supplied data

Publisher Number:

2014-01-2405

Access Restriction:

Restricted for use by site license