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.
|出版ステータス||Published - 1996 12 1|
|イベント||Proceedings of the 1996 IEEE Conference on Emerging Technologies and Factory Automation, ETFA'96. Part 2 (of 2) - Kauai, HI, USA|
継続期間: 1996 11 18 → 1996 11 21
|Other||Proceedings of the 1996 IEEE Conference on Emerging Technologies and Factory Automation, ETFA'96. Part 2 (of 2)|
|City||Kauai, HI, USA|
|Period||96/11/18 → 96/11/21|
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