Planning and Control for Autonomous Excavation | Request PDF
To the best of our knowledge, this work presents the first real-time motion planning framework that satisfies constraints of a hydraulic excavator, such as force/torque, power, cylinder
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Reachable Sets for Safe, Real-Time Manipulator Trajectory
Feb 05, 2020 · Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control Automation of excavation tasks requires real-time trajectory planning sa 07/06/2021 ∙ by Dongjae Lee, et al. ∙ 0 ∙ share
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Adaptive Trajectory Planning and Optimization at Limits of
Mar 11, 2019 · A sampling based strategy for adaptive motion planning at the limits of handling, which incorporates the knowledge of vehicle model and operating constraints. For this planner, the time-varying tire-road friction limitation is handled as a time-varying …
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Adaptive Motion Planning for Autonomous Mass Excavation
A hydraulic excavator can be considered a large, four degree-of-freedom manipulator mounted on a tracked base. The bucket at the end of the manipulator is used for digging and depositing the excavated material into the trucks. A core technology required for automation is the motion plan-ning of the excavator's manipulator.
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Combining Parameter Identification and Trajectory
Jun 06, 2019 · Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control Automation of excavation tasks requires real-time trajectory planning sa 07/06/2021 ∙ by Dongjae Lee, et al. ∙ 0 ∙ share
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Combining Parameter Identification and Trajectory
Jun 06, 2019 · Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control Automation of excavation tasks requires real-time trajectory planning sa 07/06/2021 ∙ by Dongjae Lee, et al. ∙ 0 ∙ share
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Development of the Autonomous Hydraulic Excavator
Jul 19, 2017 · Development of the Autonomous Hydraulic Excavator Prototype Using 3-D Information for Motion Planning and Control Hiroshi YAMAMOTO 1) 2), Masaharu MOTEKI 3), Takashi OOTUKI 3), Yuji YANAGISAWA 4), Akira NOZUE 5), Takashi YAMAGUCHI 1), Shin'ichi YUTA 2)
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Robotic excavator trajectory control using an improved GA
May 15, 2018 · The research is based on the SANY SY235 hydraulic excavator. Fig. 1 displays the schematic diagram of the excavator which mainly includes joystick, pilot valve, main valve, hydraulic cylinder, controller and draw-wire displacement transducer. Draw-wire displacement transducers are installed outside the hydraulic cylinders of the working devices for measuring the displacements of …
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Research on Trajectory Planning and Autodig of Hydraulic
Jan 01, 2017 · The trajectory planning of excavator refers to serial robotic trajectory planning [20], considering the characteristics of the hydraulic system and large inertia of the excavator. There are basically three methods of trajectory planning commonly used: point-to-point motion, motion through a sequence of points, and operational space trajectories.
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Real-Time Motion Planning of a Hydraulic Excavator using
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time optimization-based trajectory planning of a hydraulic excavator.
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Development of the autonomous hydraulic excavator
Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control Abstract: Civil engineering work still involves many dangerous and grueling tasks, so improving work environments and ensuring safety are challenges facing this field. The development of construction machines are also essential to
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Real-Time Motion Planning of a Hydraulic Excavator …
Jul 06, 2021 · Title:Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control. Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control. Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time …
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Real-Time Motion Planning of a Hydraulic Excavator …
Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control
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dblp: H. Jin Kim
Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control. CoRR abs/2107.02366 (2021) [i17] view. Real-time Optimal Planning and Model Predictive Control of a Multi-rotor with a Suspended Load. ICRA 2019: 5665-5671 [c79] view.
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Constructing fast hydraulic robot models for optimal
a simple extension of work done previously on optimal motion plan-ning for electric drive robots. We have constructed a fast model for a hydraulic excavator(HEX) that can capture the non-linear actuator interactions. This model can simulate 75 secs of machine motion in 1 …
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Real-Time Motion Planning of a Hydraulic Excavator using
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time optimization-based trajectory planning of a hydraulic excavator. The proposed framework is composed of two main modules: a global planner and a real-time local
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Excavator Research Papers - Academia.edu
The result, excavator model using power 12V DC the control system and compressed air drive pneumatic system. The results of testing control system work to properly, the rotary motion of the swing system 360 o and use electric voltage 7,5V will have speed 13,598 rpm, so swing motion from the excavator model similar in general.
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Time-jerk optimal trajectory planning of hydraulic robotic
Jul 20, 2021 · In this paper, the joint trajectory planning problem of hydraulic robotics excavators is studied. Firstly, the performance indexes considering both jerk and time are established, and the optimal cubic spline interpolation trajectory concerning the problems of time and jerk are obtained by using the three algorithms of the SQP, PSO, and DE.
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