naa a22 4500 510823009 CHVBK 20180411083542.0 cr unu---uuuuu 180411e20131201xx s 000 0 eng 10.1007/s12541-013-0278-5 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0278-5 Contour control for leveling work with robotic excavator [Elektronische Daten] [Chang Lee, Jangho Bae, Daehie Hong] This paper presents electro-hydraulic servo systems of a robotic excavator with a contour control algorithm. It is very important to precisely move the bucket tip of the excavator to a desired trajectory. There have been many studies to accurately control the bucket dealing with the non-linearity in the hydraulic boom, arm, and bucket cylinders. Beginning with these conventional methods, a new method that focuses on keeping contours rather than just following position commands is presented. In the leveling work, for example, it is more important to maintain linear contour than chasing a position goal. The contour control shares the control effort to make the bucket stay on the path, while slightly sacrificing the position tracking accuracy. After the kinematics of the excavator system were analyzed, the contour control algorithm was developed. The algorithm was applied to leveling work with a real excavator. The experiments showed better performance than using position control alone. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Intelligent excavator nationallicence Robotic excavator nationallicence Contour control nationallicence Leveling work nationallicence Lee Chang Graduate School of Mechanical Engineering, Korea University, 5-1, Anam-dong, Sungbuk-gu, 136-713, Seoul, Korea aut Bae Jangho Graduate School of Mechanical Engineering, Korea University, 5-1, Anam-dong, Sungbuk-gu, 136-713, Seoul, Korea aut Hong Daehie School of Mechanical Engineering, Korea University, 5-1, Anam-dong, Sungbuk-gu, 136-713, Seoul, Korea aut International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/12(2013-12-01), 2055-2060 2234-7593 14:12<2055 2013 14 12541 https://doi.org/10.1007/s12541-013-0278-5 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0278-5 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Lee Chang Graduate School of Mechanical Engineering, Korea University, 5-1, Anam-dong, Sungbuk-gu, 136-713, Seoul, Korea aut NATIONALLICENCE 700 1- Bae Jangho Graduate School of Mechanical Engineering, Korea University, 5-1, Anam-dong, Sungbuk-gu, 136-713, Seoul, Korea aut NATIONALLICENCE 700 1- Hong Daehie School of Mechanical Engineering, Korea University, 5-1, Anam-dong, Sungbuk-gu, 136-713, Seoul, Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/12(2013-12-01), 2055-2060 2234-7593 14:12<2055 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer