Estimation with applications to dynamic status of an excavator without renovation

摘要

Purpose Operators and drivers are easily exposed to danger by excavators is operating in dangerous places such as slopes, soft ground, building dismantling sites, distressed areas, and construction waste land-fills. For the safe use of conventional excavators as a tele-operated system without any renovation, feedback information of the boom, arm, and bucket cylinder should be estimated as a schematic of the excavator arms with the same of joint angles, respectively. There is a strong need for acquiring this information using the proposed sensor system and converting algorithm enabling each joint angle to be derive for a commercial excavator without any renovation and remodeling. Method: This study provides kinematic and dynamic information of the excavator. The proposed sensing module, which derives joint angles set by IMU-sensors, is implemented in the excavator. Acquired and estimated data from the sensing module and true known value was compared through prototype demonstration. Results & Discussion Detachable sensor modules and robotic manipulators were installed in an excavator; a field test verified the feasibility of implementing the proposed estimation method.