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Research on Excavator Trajectory Control Based on Hybrid Interpolation

Author

Listed:
  • Jing Yang

    (Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
    Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao 066004, China
    Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004, China)

  • Yingjie Gao

    (Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
    Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao 066004, China
    Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004, China)

  • Rui Guo

    (Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
    Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao 066004, China
    Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004, China)

  • Qingshan Gao

    (Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
    Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao 066004, China
    Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004, China)

  • Jingyi Zhao

    (Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
    Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao 066004, China
    Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004, China)

Abstract

In this study, to address the issues of tooth tip operation discontinuity and jitter during autonomous excavator operation, a multi-segment mixed interpolation method utilizing different higher-order polynomials has been proposed. This approach is designed to optimize the tooth tip trajectory of the excavator under multiple constraints, resulting in a smoother trajectory. Specifically, the single-bucket excavator was chosen as the research object, and three different high-order mixed polynomials were utilized to interpolate the trajectory of the digging discrete points. Through a comparative analysis under multiple constraints, this study explored and analyzed the joint angle, angular velocity, and angular acceleration curves of each excavator’s joint. An experimental platform was established to investigate the hydraulic system of an excavator, and the optimal trajectory was controlled using a high-order mixed polynomial interpolation. The results of this study demonstrate that the tracking accuracy of the excavator’s actuator under the optimal interpolation strategy is high, with a maximum displacement deviation of ±3 mm. Additionally, during operation, the excavator manipulator runs smoothly and continuously with minimal flexible impact and vibration.

Suggested Citation

  • Jing Yang & Yingjie Gao & Rui Guo & Qingshan Gao & Jingyi Zhao, 2023. "Research on Excavator Trajectory Control Based on Hybrid Interpolation," Sustainability, MDPI, vol. 15(8), pages 1-21, April.
    • Handle: RePEc:gam:jsusta:v:15:y:2023:i:8:p:6761-:d:1125517
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    References listed on IDEAS

    as
    1. Bin Zhang & Shuang Wang & Yuting Liu & Huayong Yang, 2017. "Research on Trajectory Planning and Autodig of Hydraulic Excavator," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-10, May.
    2. Qiushi Bi & Guoqiang Wang & Yongpeng Wang & Zongwei Yao & Robert Hall, 2020. "Digging Trajectory Optimization for Cable Shovel Robotic Excavation Based on a Multi-Objective Genetic Algorithm," Energies, MDPI, vol. 13(12), pages 1-20, June.
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    Cited by:

    1. Zhong Jin & Mingde Gong & Dingxuan Zhao & Shaomeng Luo & Guowang Li & Jiaheng Li & Yue Zhang & Wenbin Liu, 2024. "Mining Trajectory Planning of Unmanned Excavator Based on Machine Learning," Mathematics, MDPI, vol. 12(9), pages 1-22, April.

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