Design and simulation of a road scraper control using the TeleGripTM simulation program

Pekka Kilpeläinen, Kalervo Nevala

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientific


    A method for the automatic blade control of a road scraper is presented in this paper.The benefits of automatic control are easier and faster operation of the road scraper, better work quality and cost savings.To be able to control the blade of the road scraper in a cartesian coordinate system the inverse kinematics of the road scraper have to be solved.Simulation was used for measuring the accuracy of the height and cross slope control using the different blade control systems.Simulation was also used for testing different alternatives in the design of a physical prototype of the blade control system based on the inverse kinematics solution.Applications of the inverse kinematics solution are coordinated manual operation and fully automatic blade control.In fully automatic control the position of the blade is measured using a servotachymeter.Measured information is compared with the numerical road design data, and the control system calculates the desired position for the cutting blade of the road scraper.
    Original languageEnglish
    Title of host publicationProceedings Scandinavian Symposium on Robotics 1999
    Place of PublicationOulu
    Publication statusPublished - 1999
    MoE publication typeB3 Non-refereed article in conference proceedings
    EventScandinavian Symposium on Robotics 1999 - Oulu, Finland
    Duration: 14 Oct 199915 Oct 1999


    ConferenceScandinavian Symposium on Robotics 1999


    • simulation
    • inverse kinematics
    • road scraper control


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