Blade control in Cartesian space for leveling work by bulldozer
- Authors
- Lee, Yong-Seok; Kim, Sang-Ho; Seo, Jongwon; Han, Jeakweon; Han, Chang-Soo
- Issue Date
- Oct-2020
- Publisher
- ELSEVIER
- Keywords
- Bulldozer machine control; Blade position control; VSD (Virtual Spring Damper)-hypothesis; Cartesian space control; Automatic blade control system
- Citation
- AUTOMATION IN CONSTRUCTION, v.118, pp.1 - 9
- Indexed
- SCIE
SCOPUS
- Journal Title
- AUTOMATION IN CONSTRUCTION
- Volume
- 118
- Start Page
- 1
- End Page
- 9
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/842
- DOI
- 10.1016/j.autcon.2020.103264
- ISSN
- 0926-5805
- Abstract
- This paper proposes an automatic blade control system in a Cartesian space for leveling of bulldozer blades, which controls the position of blade cutting edge to the position of design surface for leveling in a Cartesian space. To control the position of blade cutting edge in a Cartesian space, this paper developed a Cartesian-space control algorithm by applying a mathematical model of the homogeneous transformation matrix, based on a virtual spring-damper tucked between the blade cutting edge and design surface. After applying the proposed control system at an actual construction site, this paper compared the results with those of an expert operator and analyzes their accuracy and precision.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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