کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
247254 502413 2010 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Closed-loop control of hydraulic telescopic handler
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی عمران و سازه
پیش نمایش صفحه اول مقاله
Closed-loop control of hydraulic telescopic handler
چکیده انگلیسی

Automatization is supposed to improve working conditions and safety in the construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the telescopic handler is semi-automated assembly of facade panels. The base handler was upgraded with two additional hydraulic axes, position sensors and closed-loop control system, while the original handler safety assurance mechanisms were preserved. The control approach is based on a PI controller with velocity feedforward and valve overlap compensation. The direct and inverse kinematic models of handler mechanism were developed to enable control of end-effector motion along a straight line in the Cartesian coordinate system. The motion performances were evaluated following the ISO 9283 standard with payload of 2000 kg. Results show the repeatability of positioning bellow 7.0 mm and the straight line tracking error smaller than 63 mm.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automation in Construction - Volume 19, Issue 7, November 2010, Pages 954–963
نویسندگان
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