Swing trajectory control for large excavators

Denman, A., McAree, P.R., Kearney, M., Reid, A. and Austin, K. (2010). Swing trajectory control for large excavators. In: Andrew Howard, Karl Iagnemma and Alonzo Kelly, Field and Service Robotics: Results of the 7th International Conference. The 7th International Conference on Field and Service Robotics, Cambridge, MA, United States, (401-410). 14-16 July 2009. doi:10.1007/978-3-642-13408-1_36


Author Denman, A.
McAree, P.R.
Kearney, M.
Reid, A.
Austin, K.
Title of paper Swing trajectory control for large excavators
Conference name The 7th International Conference on Field and Service Robotics
Conference location Cambridge, MA, United States
Conference dates 14-16 July 2009
Proceedings title Field and Service Robotics: Results of the 7th International Conference
Journal name Springer Tracts in Advanced Robotics
Place of Publication Berlin, Germany
Publisher Springer
Publication Year 2010
Sub-type Fully published paper
DOI 10.1007/978-3-642-13408-1_36
ISBN 9783642134074
ISSN 1610-7438
1610-742X
Editor Andrew Howard
Karl Iagnemma
Alonzo Kelly
Volume 62
Start page 401
End page 410
Total pages 10
Collection year 2010
Language eng
Abstract/Summary There is a strong push within the mining sector to automate equipment such as large excavators. A challenging problem is the control of motion on high inertia degrees of freedom where the actuators are constrained in the power they can deliver to and extract from the system and the machine’s underlying control system sits between the automation system and the actuators. The swing motion of an electric mining shovel is a good example. This paper investigates the use of predictive models to achieve minimum time swing motions in order to address the question what level of performance is possible in terms of realizing minimum time motions and accurate positional control. Experiments are described that explore these questions. The work described is associated with a project to automate an electricmining shovel and whilst the control law discussed here is a much simplified form of that used in this work, the experimental study sheds considerable light on the problem.
Subjects E1
290301 Robotics and Mechatronics
091302 Automation and Control Engineering
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ

 
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Created: Wed, 07 Apr 2010, 09:54:14 EST by Rose Clements on behalf of School of Mechanical and Mining Engineering