Force control of power shovel for construction of subterrain line

Kazuhiro Kosuge, Koji Takeo, Hirokazu Ishida

研究成果: Paper査読

抄録

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.

本文言語English
ページ205-209
ページ数5
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 181996 11 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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