Closed-loop control of hydraulic telescopic handler
Automatization is supposed to improve working conditions and safety in the construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the t...
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| Veröffentlicht in: | Automation in construction 2010-11, Vol.19 (7), p.954-963 |
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| container_end_page | 963 |
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| container_issue | 7 |
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| container_title | Automation in construction |
| container_volume | 19 |
| creator | Činkelj, Justin Kamnik, Roman Čepon, Peter Mihelj, Matjaž Munih, Marko |
| description | Automatization is supposed to improve working conditions and safety in the construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the telescopic handler is semi-automated assembly of facade panels. The base handler was upgraded with two additional hydraulic axes, position sensors and closed-loop control system, while the original handler safety assurance mechanisms were preserved. The control approach is based on a PI controller with velocity feedforward and valve overlap compensation. The direct and inverse kinematic models of handler mechanism were developed to enable control of end-effector motion along a straight line in the Cartesian coordinate system. The motion performances were evaluated following the ISO 9283 standard with payload of 2000
kg. Results show the repeatability of positioning bellow 7.0
mm and the straight line tracking error smaller than 63
mm. |
| doi_str_mv | 10.1016/j.autcon.2010.07.012 |
| format | Article |
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kg. Results show the repeatability of positioning bellow 7.0
mm and the straight line tracking error smaller than 63
mm.</description><subject>Applied sciences</subject><subject>Automation</subject><subject>Buildings. Public works</subject><subject>Closed-loop control</subject><subject>Computation methods. Tables. Charts</subject><subject>Computational fluid dynamics</subject><subject>Construction equipments</subject><subject>Construction industry</subject><subject>Construction works</subject><subject>Control systems</subject><subject>Exact sciences and technology</subject><subject>Fluid flow</subject><subject>Hydraulic telescopic handler</subject><subject>Hydraulics</subject><subject>Robot</subject><subject>Safety</subject><subject>Straight lines</subject><subject>Structural analysis. 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Stresses</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Činkelj, Justin</creatorcontrib><creatorcontrib>Kamnik, Roman</creatorcontrib><creatorcontrib>Čepon, Peter</creatorcontrib><creatorcontrib>Mihelj, Matjaž</creatorcontrib><creatorcontrib>Munih, Marko</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Automation in construction</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Činkelj, Justin</au><au>Kamnik, Roman</au><au>Čepon, Peter</au><au>Mihelj, Matjaž</au><au>Munih, Marko</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Closed-loop control of hydraulic telescopic handler</atitle><jtitle>Automation in construction</jtitle><date>2010-11-01</date><risdate>2010</risdate><volume>19</volume><issue>7</issue><spage>954</spage><epage>963</epage><pages>954-963</pages><issn>0926-5805</issn><eissn>1872-7891</eissn><abstract>Automatization is supposed to improve working conditions and safety in the construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the telescopic handler is semi-automated assembly of facade panels. The base handler was upgraded with two additional hydraulic axes, position sensors and closed-loop control system, while the original handler safety assurance mechanisms were preserved. The control approach is based on a PI controller with velocity feedforward and valve overlap compensation. The direct and inverse kinematic models of handler mechanism were developed to enable control of end-effector motion along a straight line in the Cartesian coordinate system. The motion performances were evaluated following the ISO 9283 standard with payload of 2000
kg. Results show the repeatability of positioning bellow 7.0
mm and the straight line tracking error smaller than 63
mm.</abstract><cop>Kidlington</cop><pub>Elsevier B.V</pub><doi>10.1016/j.autcon.2010.07.012</doi><tpages>10</tpages></addata></record> |
| fulltext | fulltext |
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| ispartof | Automation in construction, 2010-11, Vol.19 (7), p.954-963 |
| issn | 0926-5805 1872-7891 |
| language | eng |
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| source | Elsevier ScienceDirect Journals |
| subjects | Applied sciences Automation Buildings. Public works Closed-loop control Computation methods. Tables. Charts Computational fluid dynamics Construction equipments Construction industry Construction works Control systems Exact sciences and technology Fluid flow Hydraulic telescopic handler Hydraulics Robot Safety Straight lines Structural analysis. Stresses |
| title | Closed-loop control of hydraulic telescopic handler |
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