Blade control in Cartesian space for leveling work by bulldozer
- Title
- Blade control in Cartesian space for leveling work by bulldozer
- Author
- 한재권
- Keywords
- Bulldozer machine control; Blade position control; VSD(Virtual Spring Damper)-hypothesisCartesian space control; Automatic blade control system
- Issue Date
- 2020-05
- Publisher
- ELSEVIER
- Citation
- AUTOMATION IN CONSTRUCTION, v. 118, Article no. 103264, 9pp
- Abstract
- This paper proposes an automatic blade control system in a Cartesian space for leveling of bulldozer blades, which controls the position of blade cutting edge to the position of design surface for leveling in a Cartesian space. To control the position of blade cutting edge in a Cartesian space, this paper developed a Cartesian-space control algorithm by applying a mathematical model of the homogeneous transformation matrix, based on a virtual spring-damper tucked between the blade cutting edge and design surface. After applying the proposed control system at an actual construction site, this paper compared the results with those of an expert operator and analyzes their accuracy and precision.
- URI
- https://www.sciencedirect.com/science/article/pii/S0926580519308647https://repository.hanyang.ac.kr/handle/20.500.11754/164441
- ISSN
- 0926-5805
- DOI
- 10.1016/j.autcon.2020.103264
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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