Study on The Track Planner for Automated Excavation of Hydraulic Excavators

摘要

Based on the kinematics analysis of hydraulic excavators, the kinematics model for the automated excavation tasks is proposed in this paper. Following the desired path for specific defined excavation tasks, a track planner is developed to generate control signals for all three cylinders coordinately to control the track of the bucket tip. Also, a visual interactive tool for the track planner is developed by means of the MTALAB GUI. The test results show that the control signals derived from the track planner can be applied by general PID controller to accomplish the automated excavation function for any hydraulic excavator. After the excavation plan being determined, the control signals can be achieved easily by knowing the geometry parameters of the excavator linkage system.