Title :
A simulation of a road scraper control
Author :
Saavalainen, Pekka ; Nevala, Kalervo ; Savilampi, Juha
Author_Institution :
VTT Autom., Oulu, Finland
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;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509291
