JOURNAL BROWSE
Search
Advanced SearchSearch Tips
A Study on Position Recognition of Bucket Tip for Excavator
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
  • Journal title : Journal of Drive and Control
  • Volume 13, Issue 1,  2016, pp.49-53
  • Publisher : Korea Society of Fluid Power & Construction Equipments
  • DOI : 10.7839/ksfc.2016.13.1.049
 Title & Authors
A Study on Position Recognition of Bucket Tip for Excavator
Kim, Jae Hoon; Bae, Jong Ho; Jung, Woo Yong;
  PDF(new window)
 Abstract
The accurate calculation of bucket tip position has a large influence on showing the motion of an excavator on the display device of the excavator and controlling the excavator automatically. It is generally known that Inertial Measurement Unit (IMU) sensors are more accurate than accelerometer-based sensors while the boom, arm or bucket moves because additional forces beyond gravity add additional acceleration to the sensors. To prove the accuracy difference between the two types of sensors, a position recognition system using an accelerometer-based sensor and an IMU sensor is implemented on the excavator. The experimental results show that the system using the IMU sensor significantly reduces the position recognition error while bucket moves and additional force beyond gravity exists.
 Keywords
Position Recognition;Bucket Tip;IMU;Accelerometer;Excavator;
 Language
Korean
 Cited by
 References
1.
A. Vladeanu and G. Vladeanu, "THE CONTROL OF THE BUCKET POSITION AT THE HYDRAULIC EXCAVATORS WITH BACKHOE ATTACHMENT", SISOM 2011 and Session of the Commission of Acoustics, Bucharest, 25-26 May, 2011.

2.
Y. Shimano, Y. Kami and K. Shimokaze, "Development of PC210LCi-10/PC200i-10 Machine Control Hydraulic Excavator", Komatsu Technical Report, Vol.60, No.167, 2014.

3.
A. J. Koivo, "Kinematics of Excavators (Backhoes) for Transferring Surface Material", Journal of Aerospace Engineering, Vol. 7, No. 1, pp.17-32, 1994. crossref(new window)

4.
B. P. Patel and J. M. Prajapati, "Kinematics of Mini Hydraulic Backhoe Excavator-Part: I", Int. J. Mech. Eng. & Rob. Res. 2013, Vol. 2, No. 1, pp. 166-182, 2013.

5.
C. F. Hofstra, A. J. M. van Hemmen, S. A. Miedema and J. van Hulsteyn, "Describing the position of backhoe dredge buckets", Texas A&M 32nd Annual Dredging Seminar, Warwick, Rhode Island, 25-28 June, 2000.

6.
C. S. Lee et al., "A Study on Gravity- compensated Controller to Reduce Position Error of Interlligent Excavator", KSFC Fall Conference, pp. 90-94, 2009.