Digging Trajectory Optimization for a New Excavating

Digging Trajectory Optimization for a New Excavating

A Novel Path Planning Optimization Algorithm Based on

2 days ago · A novel path planning optimization algorithm of UAVs based on Particle Swarm Optimization (PSO) is presented in this paper. This path planning optimization algorithm aims to manage the drone's distance and flight time, applying optimization and randomness techniques to overcome the disadvantages of the traditional systems.

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GPU-Based Contact-Aware Trajectory Optimization Using A

Description. We present a new formulation of trajectory optimization for articulated bodies. Our approach uses a fully differentiable dynamic model of the articulated body, and a smooth force model that approximates all kinds of internal/external forces as a smooth function of the articulated body's kinematic state.

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An autonomous excavator system for material loading tasks

A control method was discussed in to improve the motion trajectory tracking accuracy. An optimization-based method for excavator trajectory generation was presented in . Recently, an advanced planning and control algorithm was proposed to generate digging motions for excavation. This method constrains the interaction force during the digging

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Digging Trajectory Optimization by Soil Models and

Sep 24, 2013 · Digging Trajectory Optimization by Soil Models and Dynamics Models of Excavator Kefid11 Researches for automated construction machinery have been conducted for labor-saving, improved work efficiency and worker's safety, where a tracking control function was proposed as one of the key control system strategies for highly automated

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Path Planning for Excavator Arm: Fuzzy Logic Control Approach

The information about the dug weight is feedback to the computer from the load cell after each digging period. This signal then is fed to the fuzzy system to determine the change of the y D and z D.From these results, the optimization toolbox will solve optimal problem and then the B-spline technique will be used to build the reference trajectory for the excavator arm.

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Time Variable Minimum Torque Trajectory Optimization for

Jun 01, 2020 · This paper proposes a minimal torque and time variable trajectory optimization method for a single excavation task. To reduce the number of optimization variables and improve the overall efficiency, we propose to only use few keypoints as variables and compute torque of linearly interpolated waypoints with small fixed time step between them. To enable …

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Multi-objective Excavation Trajectory Optimization for

Jan 01, 2020 · Multi-objective Excavation Trajectory Optimization for Intelligent Electric Shovel Based on ROS. Zhonglei Fan 1, Tianci Zhang 1, Jianqiang Qiao 2, Guang Li 2, Yonggang Zhao 1, Xin Wang 1, Wei Sun 1 and Xueguan Song 1. Published under licence by IOP Publishing Ltd

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Multi-Resolution Planning for Earthmoving

selects digging actions based on constraint optimization over the space of prototypical digging actions. We discuss planners and the associated representations for two types of earthmoving machines: an excavator backhoe and a wheel loader. Experimental results from a full-scale auto-mated excavator and simulated wheel loader are pre-sented. 1

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Dynamic Analysis of Working Device of Excavator under

Jun 26, 2021 · In order to more accurately analyze the dynamic characteristics of the working device of the hydraulic excavator. The load changes on the two digging trajectories were calculated and analyzed by using the limit digging force model and the theoretical digging force model, respectively. The rigid-flexible coupling model of the working device was established in …

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Multi-Resolution Planning for Earthmoving

selects digging actions based on constraint optimization over the space of prototypical digging actions. We discuss planners and the associated representations for two types of earthmoving machines: an excavator backhoe and a wheel loader. Experimental results from a full-scale auto-mated excavator and simulated wheel loader are pre-sented. 1

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A STUDY ON THE VIRTUAL DIGGING SIMULATION OF A HYDRAUL…

For traditional 2-DoF excavating mechanism of electric mining shovel, the log spiral trajectory is regarded as the optimal digging trajectory with less energy consumption.

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Digging Trajectory Optimization for Cable Shovel Robotic

Therefore, under the premise of the shovel power capabilities, the main task for digging trajectory optimization for cable shovel robotic excavation can be summarized as two aspects: firstly, taking advantage of the theoretical trajectory with a constant soil cutting angle to acquire optimal working performance; secondly, modifying the corresponding speed curves to to make the …

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Digging Trajectory Optimization for Cable Shovel Robotic

Dec 20, 2021 · First, we express its excavation trajectory using four parameters and assume the models for the amount of excavated soil and the reaction force based on our previous experiments. Next, we combine these models with a geometrical model for the hydraulic excavating machine.

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Optimization Control of Cooperative Trajectory towards

Aug 16, 2021 · As shown in Figure 4, the trajectory of the main arm is optimized and then input into the joint controller to complete the coordinated transportation operation.. 5. Trajectory Optimization Simulation 5.1. Initial State and Trajectory Setting of Dual Arm. In this paper, dual-arm robots are composed of two iiwa14 manipulators, and its D-H model is built by using …

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Study on Optimal Digging Trajectory Planning for Pmining

Study on Optimal Digging Trajectory Planning for Pmining Shovel Autonomous ExcavationCN Mechod(DEM)-Multi Body Dynamic(MBD)co-simulations.In the part of literature review,the research achievements on digging trajectory optimization were summarized in the first step.Secondly,taking the operational charactristics of other excavation

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Digging Trajectory Optimization for Cable Shovel Robotic

Up to12%cash back · May 27, 2013 · Abstract. Efficiency of digging operation of hydraulic excavator is affected by the geometry of digging trajectory. To improve the operation efficiency, appropriate trajectory design is important. In this report, we developed a simulation model to establish optimized trajectories. This model involves a soil and a front linkage model of an …

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Energies | Free Full-Text | Digging Trajectory

Jun 16, 2020 · Cooling System Energy Consumption Reduction through a Novel All-Electric Powertrain Traction Module and Control Optimization. Previous Article in Journal. Fuzzy Logic Weight Based Charging Scheme for Optimal Distribution of Charging Power among Electric Vehicles in a Parking Lot.

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Energy-minimum optimization of the intelligent excavating

For traditional 2-DoF excavating mechanism of electric mining shovel, the log spiral trajectory is regarded as the optimal digging trajectory with less energy consumption. The …

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Task space-based dynamic trajectory planning for digging

Dec 04, 2018 · In this paper, a task space-based methodology for dynamic trajectory planning for digging process of a hydraulic excavator is presented, with the integration of soil–bucket interaction. An extended soil–bucket interaction model, which adds the resistive moment compared to the previous models, is provided in this research.

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Comprehensive theoretical digging performance analysis for

May 29, 2019 · The main purpose of this case study is to test and demonstrate the capability of the proposed method to assess the digging trajectory characteristics and further to guide the trajectory optimization. In this study, trajectory assessment and optimization are conducted based on the given bucket tip trajectory generated by an experienced operator.

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