Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10419932 | Mechanism and Machine Theory | 2005 | 16 Pages |
Abstract
The device we study is the excavation arm of a large hydraulic mining shovel having a multi-loop kinematic form. We describe an iterative algorithm that allows the position of the bucket to be tracked from measurements of the linear actuator extensions. The important characteristic of this algorithm is that it is numerically well-behaved when the linkage is close to singular configurations. While we focus on a specific device, the algorithm is easy to adapt to other multi-loop linkages.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
A.S. Hall, P.R. McAree,