Abstract
In this paper, a novel trajectory planning methodology is proposed for use within a semi-automated hydraulic rockbreaker system. The objective of the proposed method is to minimize the trajectory duration while hydraulic fluid flow rate limits are respected. Within the trajectory planning methodology, a point-to-point path planning approach based on the decoupling of the motion of the rockbreaker’s first joint is compared with an alternative approach based on Cartesian straight-line motion. Each of these path types is parameterized as a function of time based on an imposed trajectory profile that ensures smooth rockbreaker motions. A constrained nonlinear optimization problem is formulated and solved with the trajectory duration as the objective function while constraints are applied to ensure that flow rate limits through the rockbreaker’s proportional valves and hydraulic pump are not exceeded. The proposed methodology is successfully implemented to compute a set of representative trajectories, with the path planning approach based on the decoupling of the motion of the rockbreaker’s first joint consistently producing shorter trajectory durations.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Transactions of the Canadian Society for Mechanical Engineering
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
