Lever Control for Position Control of a Typical Excavator in Joint Space Using a Time Delay Control Method
- Authors
- Sun, Dongik; Hwang, Seunghoon; Han, Jeakweon
- Issue Date
- Jul-2021
- Publisher
- Kluwer Academic Publishers
- Keywords
- Lever control; Regulation control; Robust control; Time delay control; Typical and commercial excavator; Unknown parameters; Unmodified mechanism
- Citation
- Journal of Intelligent and Robotic Systems: Theory and Applications, v.102, no.3, pp 1 - 16
- Pages
- 16
- Indexed
- SCIE
SCOPUS
- Journal Title
- Journal of Intelligent and Robotic Systems: Theory and Applications
- Volume
- 102
- Number
- 3
- Start Page
- 1
- End Page
- 16
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/107349
- DOI
- 10.1007/s10846-021-01416-z
- ISSN
- 0921-0296
1573-0409
- Abstract
- The unmanned robotic excavator system has recently become one solution for rescue at the disaster site. Almost all of the solutions about excavator automation have used the electric valve controller and pressure sensor through the mechanical modifications since they are essential. However, some problems might occur because of unpredictable cost and time consumption in modifying the hydraulic drive and mechanical system. In contrast, this paper proposes a completely novel approach for regulation control of any typical hydraulic excavator by excluding those devices which is related to hydraulic drive system. This method controls the lever displacements physically by using the detachable devices and embedded system for avoiding an any modifications and complex computation. Applying the time delay control (TDC) method, this paper demonstrates the globally stable of regulation control of an excavator in the joint space even though states about the hydraulic systems and body dynamics are not observed. It is expected that this method could help the user to safe respond to requirements in emergencies through the rapid robotization without modifications.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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