Lever Control for Position Control of a Typical Excavator in Joint Space Using a Time Delay Control Method

초록

The unmanned robotic excavator system has recently become one solution for rescue at the disaster site. Almost all of the solutions about excavator automation have used the electric valve controller and pressure sensor through the mechanical modifications since they are essential. However, some problems might occur because of unpredictable cost and time consumption in modifying the hydraulic drive and mechanical system. In contrast, this paper proposes a completely novel approach for regulation control of any typical hydraulic excavator by excluding those devices which is related to hydraulic drive system. This method controls the lever displacements physically by using the detachable devices and embedded system for avoiding an any modifications and complex computation. Applying the time delay control (TDC) method, this paper demonstrates the globally stable of regulation control of an excavator in the joint space even though states about the hydraulic systems and body dynamics are not observed. It is expected that this method could help the user to safe respond to requirements in emergencies through the rapid robotization without modifications.

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