Abstract
During the past decade, automation has significantly increased in all forms of engineering. With the fast-paced research and development in automation, it is expected that automation will be commonplace and many operations will be performed using robots. Automation of heavy construction equipment is in its early stages. Attempts are persistently made to push the frontiers of science and technology to automate heavy equipment but, limited progress has been made. This research presents a fuzzy logic modeling approach for moving a back-hoe bucket from a fill point to a dump point. The fuzzy logic model is designed to accept all feasible points formed by boom and stick movements in 3D space. Inputs to the model are coordinates of fill and dump spots, as well as stick and boom dimensions. The model provides output signals to automate the bucket movement by swinging the bucket, lowering (or raising) boom, and stretching (or retracting) stick. The paper also includes three site scenarios to demonstrate the performance of the model. The three scenarios are varied from a very basic to a very complex maneuver. All three scenarios are tested for error, and the errors are within acceptable limits.
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