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

Volume

1

fYear

1996

fDate

18-21 Nov 1996

Firstpage

205

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ETFA.1996.573292

Filename

573292