Article ID Journal Published Year Pages File Type
10419932 Mechanism and Machine Theory 2005 16 Pages PDF
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
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