Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
DYNAMIC COGNITIVE FORCE CONTROL FOR AN AUTOMATIC LAND EXCAVATION ROBOT
Date
1994-04-14
Author
Bodur, M
Zontul, H
Ersak, Aydın
KOIVO, AJ
YURTSEVEN, HO
KOCAOGLAN, E
PASAMEHMETOGLU, G
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
142
views
0
downloads
Cite This
The automation of the land excavation machines can find applications in the excavation of soil in both terrestrial and planetary mining and construction. The automation requires planning at different levels such as task and trajectory pre-planning, and the automatic execution of these pre-planned tasks. In the execution of the pre-planned digging trajectories, the unexpected soil properties along the trajectory raises problems such as excessive ram-forces that may harm the machine, or cannot be applied because of the power limitations. The cognitive force control for the automation of the land excavation is developed to include the dynamics of the excavator arm. The control of the ram forces of the arm is proposed by regulating the digging depth and the trajectory speed. The developed control system is able to track the preplanned digging trajectories, and if the ram-forces becomes excessive then the trajectory is modified in time and path to control the ram-forces
Subject Keywords
Force control
,
Cognitive robotics
,
Robotics and automation
,
Trajectory
,
Kinematics
,
Automatic control
,
Soil properties
,
Control systems
,
Engines
,
,Hydraulic actuators
URI
https://hdl.handle.net/11511/63019
Collections
Department of Electrical and Electronics Engineering, Conference / Seminar
Suggestions
OpenMETU
Core
Precise external positioning of machine tools using angular measurements from digital cameras
OKAY, İLKİN EGE; Koku, Ahmet Buğra; Durmaz, Murat; Department of Mechanical Engineering (2022-6-09)
Nowadays, robot arms are highly available for industrial applications such as welding and automation. The major problem is the inaccuracy at tip position of the robot arm due to several structural effects. This thesis aims to increase the positioning accuracy of robot arm tip position by developing an external positioning method via angular measurement from digital cameras. Two gimbal systems are configured as the steering system of cameras. Each gimbal provides the angular position of the target in real-ti...
Review of Trend Tests for Detection of Wear Out Period for Mining Machineries
Gölbaşı, Onur; Demirel, Nuray (2015-04-17)
Machinery systems are extensively utilized in all mining stages from beginning to end of ore production. They are capital-intensive systems and substantial amount of money is spent annually to keep their functionalities in desired levels. Therefore, implementation of effective maintenance strategy has a vital importance to prevent unexpected breakdowns due to failures and to minimize operational cost. These maintenance strategies can be constituted effectively regarding functional and structural dependencie...
Real-time simulation of soil–tool interaction using advanced soil models
Gürbüz, Mücahit; Pekcan, Onur; Department of Civil Engineering (2019)
Excavation work is one of the main elements needed in construction fields. To meet such a huge demand, a large number of excavators are working all over the globe. In addition, researchers and companies put enormous efforts to develop more efficient excavator models. With the advancement of technology, autonomous systems have become popular and ideal way to upgrade machines for faster, cheaper and safer production. Not surprisingly, there have been many attempts to develop fully autonomous robotic excavatio...
Hierarchical control for structural decentralized des
Schmidt, Klaus Verner; Moor, Thomas (2004-01-01)
In this contribution, we consider structural decentralized DES and supplement the existing control architecture with a two-level hierarchy. For the proposed overall system, we prove hierarchical consistency and that the closed-loop behavior is nonblocking. A comprehensive example demonstrates the computational benefit of our method.
Dynamic modelling in micromachining
Yılmaz, Emre Ersoy; Özgüven, Hasan Nevzat; Budak, Erhan; Department of Mechanical Engineering (2015)
Micro milling applications are rapidly growing in various industries such as micro machines, medical, electro-mechanical component production etc. Due to very high precision requirements, dimensional accuracy and surface quality of micro milled components are very critical. As commonly known chatter vibrations arising due to instability in cutting yield poor surface finish and reduced tool life with potential damage to cutting edges and machine tool. Chatter vibrations are even more critical for micro milli...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
M. Bodur et al., “DYNAMIC COGNITIVE FORCE CONTROL FOR AN AUTOMATIC LAND EXCAVATION ROBOT,” 1994, p. 703, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/63019.