Title :
Force control of power shovel for construction of subterrain line
Author :
Kosuge, Kazuhiro ; Takeo, Koji ; Ishida, Hirokazu
Author_Institution :
Inst. of Machine Intell. & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
This paper considers a force control of power shovel that is used for construction of subterranean cables. We design a force control scheme based on a velocity-based force control algorithm, so that it could be easily implemented on a power shovel which is driven by conventional velocity controlled hydraulic actuators. By applying nonlinear force feedback with dead zone, excavation can be executed smoothly under the force control. The proposed force control scheme is implemented on an experimental system and experimental results illustrate the validity of the scheme
Keywords :
actuators; damping; excavators; feedback; force control; hydraulic systems; manipulators; nonlinear control systems; position control; dead zone; excavation; force control; manipulators; nonlinear force feedback; position control; power shovel; subterrain line; subterranean cables; velocity controlled hydraulic actuators; Admittance; Damping; Equations; Force control; Hydraulic actuators; Machine intelligence; Machinery; Power engineering and energy; Robots; Velocity control;
Conference_Titel :
Emerging Technologies and Factory Automation, 1996. EFTA '96. Proceedings., 1996 IEEE Conference on
Conference_Location :
Kauai, HI
Print_ISBN :
0-7803-3685-2
DOI :
10.1109/ETFA.1996.573292
