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.

中文翻译：

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笛卡尔空间中的铲刀控制，用于推土机平整工作

摘要 本文提出了一种在笛卡尔空间中自动调平推土机叶片的铲刀控制系统，该系统将铲刀刃口的位置控制在笛卡尔空间中用于调平的设计面位置。为了控制笛卡尔空间中刀片切削刃的位置，本文通过应用齐次变换矩阵的数学模型，基于夹在刀片切削刃和设计表面之间的虚拟弹簧阻尼器，开发了笛卡尔空间控制算法。在实际施工现场应用所提出的控制系统后，本文将结果与专家操作员的结果进行了比较，并分析了其准确性和精度。