Abstract
This paper proposes an algorithm to design the path for automated excavator arm. The path designing is divided into two phases. Firstly, the fuzzy logic technique is used to determine the change of the path to adapt with the variation of the material after each digging period. Secondly, the B-spline algorithm is used to build the optimal trajectory. By this, the excavator can maximize the dug weight although the shape of the material is variation. The effectiveness of the algorithm is verified through computer simulation and real-time experiment. The simulation and experimental results show that the generated optimal path keeps the dug weight around the expected value regardless of the change of the environment.
Highlights
Excavator is one of the popular machines in the field of construction and transportation. e working environment of excavator is usually dirty and dangerous; so, automating the operation of the excavator is the trend recently
For the problems of optimal trajectory, the B-spline technique is widely used in many works
In [1, 2], the B-spline is used to build the smooth, minimum-time, and jerk trajectories for manipulator robots. e parameters of the B-spline curves are obtained from solving the cost function with the mechanical constraints. e effectiveness of the method is verified through computer simulation and practical robots
Summary
Excavator is one of the popular machines in the field of construction and transportation. e working environment of excavator is usually dirty and dangerous; so, automating the operation of the excavator is the trend recently. An algorithm based on the B-spline and fuzzy logic techniques is proposed to design the path for the automated excavator arm. E optimal time and jerk for each digging period is supported by the B-spline algorithm while the fuzzy logic scheme is used to determine the change of the path after each digging period By this way, the reference path for the excavator is adjusted after each digging period, so it can maximize the dug weight despite the variation in the shape of the material. From the predesigned trajectory as shown, five via-points are obtained corresponding with the beginning and the end of all stages Based on these via-points, a smooth and differentiable trajectory is designed to optimize the time and jerk in each period of the working.
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