Trajectory Control Of New Intelligent Excavator

Excavator is a complex mechanism, which mainly used in industrial, construction and military fields, its automation has gradually become the focus of researchment. In order to realize the intelligent excavator working device, automatic trajectory control, the full kinematic and dynamic models were proposed based on the excavator arm, The computer real time display system is also established. The use of advanced CMAC+PID control algorithm combined with a new type of sensor, wireless communication technology, improves the intelligent excavator. The main research work as follows:The development of research on automation and intelligent excavator is surveyed, The function and general scheme of excavator are given, and the integent excavator is produced.Full kinematic and dynamic models with digging resistance of the excavator arm are derived, the three dimensions model for excavator arm is derived exactly by combining experiment with theoretical research. Through co-simulation of MATLAB and ADAMS, the simulation results are getted.The Cerebellar Model Articulation Controller neural network CMAC+PID could get more effective results in trajectory control. In order to verify the accuracy of the model and algorithm, real time display system,we did the experiment for the control algorithm, the results can achieved accurate tracking trajectories for single trajectory or multiple trajectories.The PC control system is build based on OpenGL in this paper.The Visual C++designed in OpenGL develop3D model application framework On Windows platform,an example is given in the form of design and implementation of virtual digging system of excavator. The system can be used for simulation and real-time display.