Optimal kinematic control of a robotic excavator with laser TVS feedback

Author

Sergiyenko, O.Yu. ; Hernandez-Balbuena, Daniel ; Gurko, A.G. ; Yanchevskiy, I.V. ; Tyrsa, V.V. ; Lopez, M.R. ; Rodriguez-Quinonez, Julio C.

Author_Institution

Autonomous Univ. of Baja California, Mexicali, Mexico

fYear

2013

fDate

10-13 Nov. 2013

Firstpage

4241

Lastpage

4246

Abstract

The problem of optimal kinematic control of an excavator manipulator motion for a given trajectory is considered. The minimizing of the quadratic functional of the angles associated with the respective weights as the optimality criterion is adopted. The efficiency of proposed method is confirmed by numerical example. Offered laser Technical Vision System (TVS) completes the designed controller with necessary tool for effective feedback about manipulator coincidence with desired trajectory.

Keywords

control system synthesis; excavators; feedback; manipulator kinematics; motion control; optimal control; quadratic programming; robot vision; trajectory control; basket tip movement; controller design; excavator manipulator motion; inverse kinematics; laser TVS feedback; laser technical vision system; optimal kinematic control; optimality criterion; quadratic functional minimization; robotic excavator; trajectory; Acceleration; Equations; Kinematics; Manipulators; Mathematical model; Trajectory; Technical Vision System; inverse kinematic; optimal control; robotic excavator; the Tikhonov´s regularization method;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE

Conference_Location

Vienna

ISSN

1553-572X

Type

conf

DOI

10.1109/IECON.2013.6699816

Filename

6699816