Trajectory Generation for a Hydraulic Mini Excavator using Nonlinear Model Predictive Control

Autonomous excavators have great potential to improve safety and to increase productivity. A common task for an excavator is to grade. Considering an autonomous grading system, a basic requirement is to perform straight line movements of the tool-center-point in the cartesian space. In this paper, a...

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Bibliographic Details
Published in2020 IEEE International Conference on Industrial Technology (ICIT) pp. 107 - 112
Main Authors Wind, Hannes, Renner, Anton, Bender, Frank A., Sawodny, Oliver
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2020
Subjects
Actuators
automation systems
Cost function
Indexes
Kinematics
motion control
Optimal control
optimization
Trajectory
Valves
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Summary:Autonomous excavators have great potential to improve safety and to increase productivity. A common task for an excavator is to grade. Considering an autonomous grading system, a basic requirement is to perform straight line movements of the tool-center-point in the cartesian space. In this paper, a nonlinear model predictive controller is used to generate straight line trajectories of the tool-center-point considering actuator constraints. The performance is verified using a validated physical simulation model. The results show that the tool-center-point follows straight lines between the desired points without violating the constraints. Furthermore, the resulting trajectories are near time-optimal.
ISSN:2643-2978
DOI:10.1109/ICIT45562.2020.9067227