A 3D model based control of an excavator

Tomi Makkonen; Kalervo Nevala; Rauno Heikkilä

doi:10.1016/j.autcon.2005.07.009

A 3D model based control of an excavator

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

VTT Technical Research Centre of Finland

University of Oulu

Research output: Contribution to journal › Article › Scientific › peer-review

29 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 language	English
Pages (from-to)	571-577
Journal	Automation in Construction
Volume	15
Issue number	5
DOIs	https://doi.org/10.1016/j.autcon.2005.07.009
Publication status	Published - 2006
MoE publication type	A1 Journal article-refereed

Keywords

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

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10.1016/j.autcon.2005.07.009

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title = "A 3D model based control of an excavator",

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.",

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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.

KW - robotic excavator

KW - path generation

KW - dig planning

KW - modelling

KW - simulation

KW - triangular terrain model

KW - CAD

KW - 6 DOF

KW - machine control

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DO - 10.1016/j.autcon.2005.07.009

M3 - Article

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VL - 15

SP - 571

EP - 577

JO - Automation in Construction

JF - Automation in Construction

IS - 5

ER -

A 3D model based control of an excavator

Abstract

Keywords

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