Based on reference[1], the Automatic Control System of the Excavating Process (ACSEP) is studied and aualyzed In this paper- At first, the general structure of the control system is discussed- And theo depeded on the ...Based on reference[1], the Automatic Control System of the Excavating Process (ACSEP) is studied and aualyzed In this paper- At first, the general structure of the control system is discussed- And theo depeded on the kinematical equations, the "Generator or Expected link variable (GE)" and "Generator of Actual bucket trajectory (CA)" are put forward. Finally, based on the current technology and existing techniques of WD-400 Mechanical Forward Excavator (MFE), the automatic system of excavating process composed of two relatively indepodent sub-systems is designed with simple but practical structure’ According to the computer simulation, this control system has high tracking precision to the desired trajectory and good adaptive capacity to the load disturbance.展开更多
From the view of robotics, kinematical and dynamical analyses of the WD400 Mechanical Forward Excavator are carried out in this paper. Transformation of the manipulator abstracted from the excavator is determined. For...From the view of robotics, kinematical and dynamical analyses of the WD400 Mechanical Forward Excavator are carried out in this paper. Transformation of the manipulator abstracted from the excavator is determined. Forward and Inverse kinematical analyses are given and the trajectories of bucket movement and their mathematic descriptions are derived. The kinematical and dynamical models as well as the excavating resistance along the trajectories are obtained. The computer simulations are included in this paper.展开更多
文摘Based on reference[1], the Automatic Control System of the Excavating Process (ACSEP) is studied and aualyzed In this paper- At first, the general structure of the control system is discussed- And theo depeded on the kinematical equations, the "Generator or Expected link variable (GE)" and "Generator of Actual bucket trajectory (CA)" are put forward. Finally, based on the current technology and existing techniques of WD-400 Mechanical Forward Excavator (MFE), the automatic system of excavating process composed of two relatively indepodent sub-systems is designed with simple but practical structure’ According to the computer simulation, this control system has high tracking precision to the desired trajectory and good adaptive capacity to the load disturbance.
文摘From the view of robotics, kinematical and dynamical analyses of the WD400 Mechanical Forward Excavator are carried out in this paper. Transformation of the manipulator abstracted from the excavator is determined. Forward and Inverse kinematical analyses are given and the trajectories of bucket movement and their mathematic descriptions are derived. The kinematical and dynamical models as well as the excavating resistance along the trajectories are obtained. The computer simulations are included in this paper.
