A simulation of a road scraper control

Author

Saavalainen, Pekka ; Nevala, Kalervo ; Savilampi, Juha

Author_Institution

VTT Autom., Oulu, Finland

Volume

2

fYear

1996

fDate

18-21 Mar 1996

Firstpage

452

Abstract

The automatic control system of the road scraper is based on a 6-D positioning system which measures the position and the orientation of the front frame. Measured information is compared with the numerical road design data, and the control system calculates the desired positions for the cutting blade of the road scraper. A method which controls the position and the orientation of the blade of the road scraper with two lifting cylinders and one sideways moving cylinder is presented in this paper. The inverse kinematics of the road scraper is solved using trigonometric and iterative methods. Inverse kinematics has been verified with the Igrip simulation program. The road scraper has been modeled in the CAD-section of the program. The simulated mechanism has 15 joints (or DOFs), but the real mechanism only 6

Keywords

CAD; cutting; digital simulation; iterative methods; kinematics; position control; position measurement; road vehicles; software packages; 6-D positioning system; Igrip simulation program; automatic control system; cutting blade; inverse kinematics; iterative methods; lifting cylinders; numerical road design data; road scraper; sideways moving cylinder; trigonometric methods; Automatic control; Automation; Blades; Control systems; Databases; Engine cylinders; Human factors; Kinematics; Position measurement; Roads;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on

Conference_Location

Mie

Print_ISBN

0-7803-3219-9

Type

conf

DOI

10.1109/AMC.1996.509291

Filename

509291