A 3D model based control of an excavator

Tomi Makkonen (Corresponding Author), Kalervo Nevala, Rauno Heikkilä

Research output: Contribution to journalArticleScientificpeer-review

21 Citations (Scopus)

Abstract

New technologies facilitate machine control systems, which use data from CAD and 3D measurement systems to automatically control construction machinery, such as an excavator. This paper examines the possibilities of controlling a six degrees of freedom (DOF) excavator with the final objective of controlling the movements of the excavator by using a positioning system such as a GPS in conjunction with a CAD model of the road surface. In comparison with the traditional 4 DOF machine, the excavator was provided with two additional degrees of freedom by applying a 2 DOF Rototilt, an accessory commonly in use. To study this problem, Msc.Adams with Matlab/Simulink was used as a simulation environment. In this paper the path of the bucket is calculated by using the CAD reference of the target plane.

Original languageEnglish
Pages (from-to)571-577
Number of pages7
JournalAutomation in Construction
Volume15
Issue number5
DOIs
Publication statusPublished - 2006
MoE publication typeA1 Journal article-refereed

Fingerprint

Excavators
Computer aided design
Accessories
Machinery
Global positioning system
Control systems

Keywords

  • robotic excavator
  • path generation
  • dig planning
  • modelling
  • simulation
  • triangular terrain model
  • CAD
  • 6 DOF
  • machine control

Cite this

Makkonen, Tomi ; Nevala, Kalervo ; Heikkilä, Rauno. / A 3D model based control of an excavator. In: Automation in Construction. 2006 ; Vol. 15, No. 5. pp. 571-577.
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Makkonen, T, Nevala, K & Heikkilä, R 2006, 'A 3D model based control of an excavator', Automation in Construction, vol. 15, no. 5, pp. 571-577. https://doi.org/10.1016/j.autcon.2005.07.009

A 3D model based control of an excavator. / Makkonen, Tomi (Corresponding Author); Nevala, Kalervo; Heikkilä, Rauno.

In: Automation in Construction, Vol. 15, No. 5, 2006, p. 571-577.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - A 3D model based control of an excavator

AU - Makkonen, Tomi

AU - Nevala, Kalervo

AU - Heikkilä, Rauno

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AB - New technologies facilitate machine control systems, which use data from CAD and 3D measurement systems to automatically control construction machinery, such as an excavator. This paper examines the possibilities of controlling a six degrees of freedom (DOF) excavator with the final objective of controlling the movements of the excavator by using a positioning system such as a GPS in conjunction with a CAD model of the road surface. In comparison with the traditional 4 DOF machine, the excavator was provided with two additional degrees of freedom by applying a 2 DOF Rototilt, an accessory commonly in use. To study this problem, Msc.Adams with Matlab/Simulink was used as a simulation environment. In this paper the path of the bucket is calculated by using the CAD reference of the target plane.

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KW - path generation

KW - dig planning

KW - modelling

KW - simulation

KW - triangular terrain model

KW - CAD

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