Force control of power shovel for construction of subterrain line

Kazuhiro Kosuge, Koji Takeo, Hirokazu Ishida

Research output: Contribution to conferencePaperpeer-review

Abstract

This paper considers a force control of power shovel that is used for construction of subterranean cables. We design a force control scheme based on a velocity-based force control algorithm, so that it could be easily implemented on power shovel which is driven by conventional velocity controlled hydraulic actuators. By applying non linear force feedback with dead zone, excavation could be executed smoothly under the force control. The proposed force control scheme is implemented on experimental system and experimental results illustrate the validity of the scheme.

Original languageEnglish
Pages205-209
Number of pages5
Publication statusPublished - 1996 Dec 1
EventProceedings of the 1996 IEEE Conference on Emerging Technologies and Factory Automation, ETFA'96. Part 2 (of 2) - Kauai, HI, USA
Duration: 1996 Nov 181996 Nov 21

Other

OtherProceedings of the 1996 IEEE Conference on Emerging Technologies and Factory Automation, ETFA'96. Part 2 (of 2)
CityKauai, HI, USA
Period96/11/1896/11/21

ASJC Scopus subject areas

  • Engineering(all)

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