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1、A3DmodelbasedcontrolofanexcavatorTomiMakkonena,*,KelervoNevalab,a,RaunoHeikkila¨caUniversityofOulu,DepartmentofMechanicalEngineering,P.O.Box4200,FIN-90014,FinlandbVTTElectronics,P.O.Box1100,FIN-90570Oulu,FinlandcUniversityofOulu,ResearchUnitofConstructionTechnology,P.O.Box4400,FIN_90014,FinlandAcce
2、pted26July2005AbstractNewtechnologiesfacilitatemachinecontrolsystems,whichusedatafromCADand3Dmeasurementsystemstoautomaticallycontrolconstructionmachinery,suchasanexcavator.Thispaperexaminesthepossibilitiesofcontrollingasixdegreesoffreedom(DOF)excavatorwiththefinalobjectiveofcontrollingthemovements
3、oftheexcavatorbyusingapositioningsystemsuchasaGPSinconjunctionwithaCADmodeloftheroadsurface.Incomparisonwiththetraditional4DOFmachine,theexcavatorwasprovidedwithtwoadditionaldegreesoffreedombyapplyinga2DOFRototilt,anaccessorycommonlyinuse.Tostudythisproblem,Msc.AdamswithMatlab/Simulinkwasusedasasim
4、ulationenvironment.InthispaperthepathofthebucketiscalculatedbyusingtheCADreferenceofthetargetplane.D2005ElsevierB.V.Allrightsreserved.Keywords:Roboticexcavator;Pathgeneration;Digplanning;Modelling;Simulation;Triangularterrainmodel;CAD1.IntroductionAroboticexcavatorisnotanewideaastherearemanyinteres
5、tingandadvancedsystems;forexample,AutonomousTruckLoadingfromCarnegieMellonUniversity[1],LUCIEfromLancasterUniversity[2]andKomatsuPC05-7inACRF[3].However,ingeneral,thelevelofautomationintheconstructionindustryisrelativelylowcomparedtothatintheotherfieldsofindustry.Althoughvariousresearchprojectshave
6、beenconductedforautomatingdifferenttasksinconstruction,onlyafewapplicationsarecommonlyinuse.Itwouldseem,however,thatthegeneralleveloftechnologyhasfinallyreachedapointwheretherearemeansofmeetingeventhespecificneedsofconstructionautomation.Inourstudywehavefocusedon,firstly,theintensiveuseofamodelling
7、environment,secondly,anassumptionthataCADmodelofthetargetsurfaceisavailable,thirdly,a3DpositioningsystemssuchasGPSisavailable,andfourthly,theexcavatorhassixdegreesoffreedominsteadofthetraditionalfourdegrees
