Dynamic model of excavator

Pentti Vähä, Miroslaw Skibniewski

Research output: Contribution to journalArticleScientificpeer-review

76 Citations (Scopus)

Abstract

Automation of excavation work calls for a robotic system able to perform the planned digging work that is responsive to interaction forces experienced during excavation. The development of automated excavation control methods requires a dynamic model to describe the evolution of the excavator motion with time. The joint torques of the boom mechanism are generated by hydraulic rams that also affect the torques at other joints. Analyzing each link in succession as a free body and applying the Newton‐Euler formulation in the local coordinate frame, a dynamic model for an excavator can be derived in a straightforward manner. The model presented in this paper is intended for further development of an automated excavation control system for terrestrial, lunar, and planetary excavation.
Original languageEnglish
Pages (from-to)148 - 158
Number of pages11
JournalJournal of Aerospace Engineering
Volume6
Issue number2
DOIs
Publication statusPublished - 1993
MoE publication typeA1 Journal article-refereed

Fingerprint

Excavators
Excavation
Dynamic models
Torque
Hydraulic rams
Robotics
Automation
Control systems

Cite this

Vähä, Pentti ; Skibniewski, Miroslaw. / Dynamic model of excavator. In: Journal of Aerospace Engineering. 1993 ; Vol. 6, No. 2. pp. 148 - 158.
@article{83e5add8e2a14b6787b421c9cbf0ca13,
title = "Dynamic model of excavator",
abstract = "Automation of excavation work calls for a robotic system able to perform the planned digging work that is responsive to interaction forces experienced during excavation. The development of automated excavation control methods requires a dynamic model to describe the evolution of the excavator motion with time. The joint torques of the boom mechanism are generated by hydraulic rams that also affect the torques at other joints. Analyzing each link in succession as a free body and applying the Newton‐Euler formulation in the local coordinate frame, a dynamic model for an excavator can be derived in a straightforward manner. The model presented in this paper is intended for further development of an automated excavation control system for terrestrial, lunar, and planetary excavation.",
author = "Pentti V{\"a}h{\"a} and Miroslaw Skibniewski",
year = "1993",
doi = "10.1061/(ASCE)0893-1321(1993)6:2(148)",
language = "English",
volume = "6",
pages = "148 -- 158",
journal = "Journal of Aerospace Engineering",
issn = "0893-1321",
publisher = "American Society of Civil Engineers ASCE",
number = "2",

}

Dynamic model of excavator. / Vähä, Pentti; Skibniewski, Miroslaw.

In: Journal of Aerospace Engineering, Vol. 6, No. 2, 1993, p. 148 - 158.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - Dynamic model of excavator

AU - Vähä, Pentti

AU - Skibniewski, Miroslaw

PY - 1993

Y1 - 1993

N2 - Automation of excavation work calls for a robotic system able to perform the planned digging work that is responsive to interaction forces experienced during excavation. The development of automated excavation control methods requires a dynamic model to describe the evolution of the excavator motion with time. The joint torques of the boom mechanism are generated by hydraulic rams that also affect the torques at other joints. Analyzing each link in succession as a free body and applying the Newton‐Euler formulation in the local coordinate frame, a dynamic model for an excavator can be derived in a straightforward manner. The model presented in this paper is intended for further development of an automated excavation control system for terrestrial, lunar, and planetary excavation.

AB - Automation of excavation work calls for a robotic system able to perform the planned digging work that is responsive to interaction forces experienced during excavation. The development of automated excavation control methods requires a dynamic model to describe the evolution of the excavator motion with time. The joint torques of the boom mechanism are generated by hydraulic rams that also affect the torques at other joints. Analyzing each link in succession as a free body and applying the Newton‐Euler formulation in the local coordinate frame, a dynamic model for an excavator can be derived in a straightforward manner. The model presented in this paper is intended for further development of an automated excavation control system for terrestrial, lunar, and planetary excavation.

U2 - 10.1061/(ASCE)0893-1321(1993)6:2(148)

DO - 10.1061/(ASCE)0893-1321(1993)6:2(148)

M3 - Article

VL - 6

SP - 148

EP - 158

JO - Journal of Aerospace Engineering

JF - Journal of Aerospace Engineering

SN - 0893-1321

IS - 2

ER -