Excavator Operation Trajectory Planning And Control

Excavators are widely used construction machinery and play an indispensable role in various construction,land remediation and other projects.With the development of various technologies and increasing demands,excavators are constantly innovating,integrating more and more technologies from different technical fields,and developing towards automation and intelligence.While saving manpower and material resources,it has higher efficiency and higher quality work results.This paper studies the trajectory planning method and trajectory tracking control method in the excavation process by combining the dynamic relationship and adaptive control of the excavator.In the research process of this paper,firstly,according to the existing robotics theory,the forward and inverse kinematics model of the excavator manipulator system is established by using the D-H method and the geometric method.Through the Lagrangian dynamic relationship,the dynamic model of the excavator manipulator arm system is established and deduced,and several existing excavator excavation resistance calculation methods and empirical formulas in the process of soil excavation are introduced.Then,through the conventional excavator operation trajectory planning method,the initial path of excavation is obtained through the path point of the operation request generation operation.Through the previously derived kinematics model of the manipulator,the workable range of the excavator is analyzed.At the same time,combined with the kinematic model of the manipulator and the stability of the excavator,the maximum digging force of the excavator at any point in the operable range is analyzed.By this method,the stability pre-analysis of the entire path is carried out on the initial trajectory,and given Out of the path correction scheme.In order to improve the continuity and smoothness of the operation,the B-spline curve is used to smooth the path,so that the movement of each joint of the excavator mechanical arm does not produce impact.Based on the L1 adaptive control method,the adaptive model and controller of the excavator manipulator system are built,and the stability of the L1 adaptive control is analyzed.The controller parameters are corrected by the method of pole configuration,and a single manipulator is used as an example for simulation comparison.The results show that the L1 adaptive control can maintain the stability of the system output when the system is disturbed.Finally,the simulation model of the excavator is built based on the Adams platform,and the process of simulating the excavation is realized by co-simulation with Matlab.