DocumentCode :
2057626
Title :
Dynamic modeling and identification of earthmoving engines without kinematic constraints: application to the compactor
Author :
Guillo, É ; Gautier, M.
Author_Institution :
Inst. de Recherche en Cybern. de Nantes, France
Volume :
3
fYear :
2000
fDate :
2000
Firstpage :
2346
Abstract :
This paper deals with the design and the identification of the dynamic model of a compactor, an articulated frame steering mobile engine for use in road construction. The theoretical development is based on an extended classical robot description and takes the contact strengths between rigid wheels and unprepared terrain into account. This formulation allows the automatic symbolic calculation on the dynamic model. The achieved model is linear in relation to a set of dynamic parameters which can be identified using a weighted least squares method. A survey of these techniques is given and applied to the experimental identification of the dynamic parameters of the compactor
Keywords :
civil engineering; least squares approximations; mobile robots; robot dynamics; symbol manipulation; articulated frame steering mobile engine; automatic symbolic calculation; compactor; contact strengths; dynamic modeling; dynamic parameter identification; earthmoving engines; rigid wheels; road construction; unprepared terrain; weighted least-squares method; Engines; Kinematics; Least squares methods; Levee; Mobile robots; Rain; Roads; Tree data structures; Vehicle dynamics; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
ISSN :
1050-4729
Print_ISBN :
0-7803-5886-4
Type :
conf
DOI :
10.1109/ROBOT.2000.846377
Filename :
846377
Link To Document :
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