Abstract Hydraulically actuated manipulators are commonly used for material handling or at construction sites due to the high power density of hydraulic systems. Dig assistance systems or payload monitoring systems for excavators become more common to increase the efficiency and productivity. In this paper, a novel approach for estimating the dynamic parameters of a payload (including the mass) attached to the last link of a hydraulically actuated rigid body manipulator is proposed. Motion equations for the open chain rigid body system including the payload are derived. The motion equations are formulated as a linear regression model exploiting the linearity in the base dynamic parameters. Furthermore, a dynamic model for the neglected closed kinematic chains and the friction is proposed. A least squares optimization problem for minimizing the error between the model based torque and measured torque with respect to the payload parameters is defined. The optimization problem is simplified with assumptions on the center of gravity and the inertia of the payload, which leads to a more robust estimation of the payload mass with a recursive least squares algorithm. Post processing of the estimated payload is suggested and heuristics for the calculation of characteristic values like the accumulated handled mass are shown for the special case of a material handling and an earthmoving excavator. Finally, the novel approach for the payload estimation is validated on both experimental excavators for typical working cycles. The overall performance meets the requirements of ± 3%.

中文翻译：

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液压驱动机械手的在线有效载荷估计

摘要 由于液压系统的高功率密度，液压驱动的机械手通常用于物料搬运或建筑工地。挖掘机的挖掘辅助系统或有效载荷监控系统变得越来越普遍，以提高效率和生产力。在本文中，提出了一种用于估计连接到液压驱动刚体机械手最后一个连杆的有效载荷（包括质量）的动态参数的新方法。推导出包含有效载荷的开链刚体系统的运动方程。运动方程被公式化为利用基本动态参数中的线性度的线性回归模型。此外，还提出了忽略闭合运动链和摩擦的动力学模型。定义了最小二乘优化问题，用于最小化基于模型的扭矩和测量扭矩之间相对于有效载荷参数的误差。优化问题通过对重心和有效载荷惯性的假设得到简化，这导致使用递归最小二乘算法对有效载荷质量进行更稳健的估计。建议对估计的有效载荷进行后处理，并针对物料搬运和土方挖掘机的特殊情况显示了用于计算特征值（如累积搬运质量）的启发式方法。最后，有效载荷估计的新方法在典型工作循环的两台实验挖掘机上得到验证。综合性能满足±3%的要求。