کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6695543 | 1428272 | 2018 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A control method for hydraulic manipulators in automatic emulsion filling
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی عمران و سازه
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چکیده انگلیسی
For autonomous operation of hydraulic manipulators, environmental perception and autonomous control are two research priorities. In this paper, our research focuses on emulsion explosive self-filling, including self-identification of boreholes and autonomous control of manipulators. In an effort to achieve that purpose, we establish the kinematics model of the 5-DOF hydraulic manipulator which is transformed from a crane. Vision and laser range sensors are employed to measure the positions and orientations of boreholes. Additionally, a novel inverse kinematics numerical method of the 5-DOF manipulator is presented that only needs information of Z-axis direction vector and the position of end effector. Several experiments are performed to verify the feasibility of the control method for unmanned filling of emulsion explosives by the hydraulic manipulator.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automation in Construction - Volume 91, July 2018, Pages 92-99
Journal: Automation in Construction - Volume 91, July 2018, Pages 92-99
نویسندگان
Weidong Wang, Hongpeng Chi, Siyu Zhao, Zhijiang Du,