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Some experimental force analysis for automation of excavation by a backhoe excavator.

Hemami, A. and Seward, D. W. and Quayle, S. (1999) Some experimental force analysis for automation of excavation by a backhoe excavator. In: Proceedings of the 16th IAARC/IFAC/IEEE international symposium on automation and robotics in construction. UNSPECIFIED, Madrid, pp. 503-508.

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Abstract

Automating the excavation function of an excavator is a complex control problem, because of the nature of the interaction between the cutting tool and the medium and the many parameters that are involved in the process. A fundamental question that is not yet resolved is the choice of parameters to be used in a feedback loop for the control of the process, and the control algorithm. Based on a previous proposition for the control algorithm to be used for this purpose, knowledge about the forces involved may be used for adjusting the motion of the bucket. In this paper, some results of experimental measurements of the excavation forces are presented. These forces cannot be measured directly on the bucket, but the kinematic and dynamic relations can serve for this purpose. The paper talks about the development of these relations, and then the results are presented and discussed.

Item Type: Contribution in Book/Report/Proceedings
Uncontrolled Keywords: Construction equipment ; Bucket excavator ; Experimental study ; Automation ; Excavating ; Force measurement ; Mathematical model ; Kinematics ; Experimental result ; International conference
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Departments: Faculty of Science and Technology > Engineering
VC's Office
ID Code: 20346
Deposited By: ep_ss_importer
Deposited On: 18 Dec 2008 15:04
Refereed?: No
Published?: Published
Last Modified: 24 Jan 2014 05:57
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/20346

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