# redundant heavy-duty hydraulic

Mechanics

Nov 14, 2013 (4 years and 7 months ago)

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Heuristic Approaches for the
coordinated motion of a
redundant heavy
-
duty hydraulic
excavator

Suchet Alexia

UTC

http://www.utc.fr/

Lien site
http://wwwetu.utc.fr/~suchetal/CC/inde
x.html

Plan

I.

Introduction

II.

Heuristic approaches for inverse kinematics of MECALAC
excavator

A.

Maximum displacement model

B.

Priority approach

C.

Alternating approach

III.

Experimentations

IV.

Conclusion

V.

References

Introduction

Hydraulically actuated heavy
-
duty excavators are widely used in urban
conditions. A great skill and attention are imposed for the individual
manipulations of each actuator for the end
-
effector

displacements in a
dynamic and unstructured working area. The use of the redundant

Heuristic

approaches

We propose
a very simple principle that gives fast and efficient real
-
time
solutions of the redundancy problem. Basically, the main idea is : for the
Cartesian velocity vector of the origin of the frame attached to the tool
-
holder
-

operate with only two of the hand members at a time and switch
them according to some algorithm; for the rotational velocity vector

satisfy

Maximum
displacement

model

As the name imply it, in this model we are using the two members
which movement creates the greatest device displacement. In result,
a couple will be in action while the caused displacement is the biggest
one and the motion of each of the both members is not saturated.

Figure 2

:
Displacement coefficients for every articulation (see trajectory at Figure 5)

Displacement
coefficients for every
articulation

Experimentations

This is generic tool that allow us: to simulate different kinematics and
dynamic models (differential equations systems), to evaluate various
control algorithms, to observe the behavior of the different body,
actuators, tools of the studied arms, to quantify the capacities of
developed approaches to follow specified trajectories.

On the other hand allows our industrial partner to visualize and judge our
developments.

Graphical
interface of the
simulator developed in
JAVA

Conclusion

The proposed algorithms for the inverse kinematics associated
with the developed control system will be tested on the
MECALAC real hydraulic excavator.

References

Singh
, N.,
Zghal
, H.,
Sepheri
, N.,
Balakrishnan
, S., and Lawrence P.D.,
“Coordinated
-
motion control of heavy
-
duty industrial machines with
redundancy”.
Robotica

volume 13, pp. 623
-
633., 1995

E, Mu B., “On modeling, identification, and control of
heavy
-
duty
electrohydraulic

harvest manipulator”, IEEE/ASME

Transactions
on
mechatronics
, volume 8, N
°

2 , pp 178

187, 2003

Vaha

P.,
Halme

A., “

Digital Control for a heavy
-
duty
manipulator”, Advanced software in robotics, Elsevier Science Publishers
B. V., North Holland, 1984

Liegeois
, A., ‘’Automatic supervisory control of the configuration and
behavior of
multibody

mechanisms’’.
IEEE Transactions on Systems,
Man, and Cybernetics
,
vol

.SMC
-
7, N
°
12, pp 868

871, 1977