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Lever Control for Position Control of a Typical Excavator in Joint Space Using a Time Delay Control Method

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Abstract

The unmanned robotic excavator system has recently become one solution for rescue at the disaster site. Almost all of the solutions about excavator automation have used the electric valve controller and pressure sensor through the mechanical modifications since they are essential. However, some problems might occur because of unpredictable cost and time consumption in modifying the hydraulic drive and mechanical system. In contrast, this paper proposes a completely novel approach for regulation control of any typical hydraulic excavator by excluding those devices which is related to hydraulic drive system. This method controls the lever displacements physically by using the detachable devices and embedded system for avoiding an any modifications and complex computation. Applying the time delay control (TDC) method, this paper demonstrates the globally stable of regulation control of an excavator in the joint space even though states about the hydraulic systems and body dynamics are not observed. It is expected that this method could help the user to safe respond to requirements in emergencies through the rapid robotization without modifications.

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Data Availability

All data, models generated or used during the study are available from the corresponding author by request.

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All code generated or used during the study are available from the corresponding author by request.

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Acknowledgements

This work was supported by the research fund of Hanyang University(HY-2018-0797).

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    Authors and Affiliations

    1. Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do, 15588, Korea

      Dongik Sun, Seunghoon Hwang & Jeakweon Han

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    1. Dongik Sun
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    2. Seunghoon Hwang
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    3. Jeakweon Han
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    Sun and Hwang conceived and designed the study. Sun and Han performed the experiments. Sun and Hwang wrote the paper. Sun and Han reviewed and edited the manuscript. All authors read and approved the manuscript.

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    Correspondence to Jeakweon Han.

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    Appendix A

    Appendix A

    The phase of the way how to get these relationship graphs as follows. First, the commands signal was transmitted intentionally with a constant interval from 0 to 255 to the manipulator. Second, the angular velocity was recorded at each signal of u1 at the same time. When it came to the boom, the clockwise angular velocities were recorded until the boom joint reached the qboom = 10∘. The starting angle was qboom = 70∘. The arm and bucket joints are not in motion while the boom is in motion since commands signal (lever displacements) are input (occurred) independently. The range of u1 for making a joint be working clockwise is 129 to 255. The interval of each signal is almost 7. This is the case of the first top result graph in Fig. ??. When it was moving in a counterclockwise motion, the angular velocities were recorded until the boom joint reached the qboom = 70∘ and the starting angle was qboom = 10∘. The 10∘ and 70∘ angles are of limited value when constrained mechanically. The range of u1 is 127 to 0. This is the case of the first bottom result graph in Fig. f??. The stick and bucket cases were done in the same manner using u2, u3.

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    Sun, D., Hwang, S. & Han, J. Lever Control for Position Control of a Typical Excavator in Joint Space Using a Time Delay Control Method. J Intell Robot Syst 102, 63 (2021). https://doi.org/10.1007/s10846-021-01416-z

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