Sensor-based straight-line control of the end-point of a typical retrofitted hydraulic excavator

Abstract

Most of the previous solutions on unmanned robotic excavator system for safe operation have approached through modifications by using electric valve controllers and necessary sensors. However, existing solutions cause some problems in situations where many excavators need to be rapidly deployed to emergency sites because of unpredictable time consumption in the customization of robotic excavators. In contrast, this paper will propose a completely novel straight-line motion control method which is tracking the angular velocity and enable to reduce the modification time by excluding an electric valve controller, sensors related to the hydraulic actuator systems. The resulting graph provides achievements on how well the excavator is controlled and also illustrates the controllability even if dynamics states are not observed. This method will help users to respond to robotization requirements in emergencies. Last, the result also implies that designing an optimal or data-driven learning control algorithm is worth challenging for improving performance. © 2020 Elsevier B.V.