The Research Of Excavator’s Robotics Technology

Hydraulic excavator is one of the most widely used and complicated, the largest production and sales construction machinery. As the operator’s working intensity is too large and working environment is too bad, so the excavator’s automatic control research has already becomes to be the focus at home and abroad. Based on the physics model of PC02-1Komatsu hydraulic excavator, we are researching on the excavator’s robotics technology.This paper introduce the electric-hydraulic proportional modification scheme of the excavator and the main components briefly, designed an interface box used in the data acquisition system of the electric-hydraulic control and a control box of the hydraulic system. And then designed a real-time control platform based on xPC Target, given the configuration of this platform and present its work flow.According to its own characteristics, set up the robotic excavator’s kinematics model and derive its Lagrange dynamic equation. Finally, the relationship between the driving forces outputed by the robotic excavator cylinder and the driving torques is established.By adopting cubic polynomial interpolation and cubic polynomial interpolation of passing point to plan the trajectory in cylinder space.Established the mathematical models of the robotic excavator’s electric-hydraulic system. Then simulations and experiments of the single degree of freedom and two degrees of freedom are done under PID control to track the designed trajectory, by adding interference during the simulation, know the result that PID control is sensitive to system parameters and have poor robustness by changing some system parameters. So design a fuzzy Self-adjusting PID controller to solve the disadvantage, and in this way the simulations and experiments are accomplished to compare this fuzzy self-adjusting PID controller to PID controller.In order to achieve autonomous excavator digging, this paper design an autonomous control structure based on behavior control.Based on Stateflow to decompose the excavating task by adopting the ideology of finite state machine (FSM), and according to the information collected by sensors to assess the excavator’s working state by adopting the ideology of fuzzy control. Aiming the given excavating task, the working process and concrete task decomposition of behavior-based autonomous control is described. A preliminary experiment is achieved to show that the designed autonomous excavator control method is feasibility.