Cited 3 time in webofscience Cited 5 time in scopus

Blade control in Cartesian space for leveling work by bulldozer

Title
Blade control in Cartesian space for leveling work by bulldozer
Authors
Lee, Yong-SeokKim, Sang-HoSeo, JongwonHan, JeakweonHan, Chang-Soo
DGIST Authors
Kim, Sang-Ho
Issue Date
2020-10
Citation
Automation in Construction, 118, 103264
Type
Article
Article Type
Article
Author Keywords
Automatic blade control systemBlade position controlBulldozer machine controlCartesian space controlVSD(Virtual Spring Damper)-hypothesis
Keywords
Control systemsCutting toolsEarthmoving machineryLinear transformationsAccuracy and precisionBlade controlCartesian SpaceConstruction sitesCutting edgesDesign surfacesHomogeneous transformation matrixVirtual springPosition control
ISSN
0926-5805
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. © 2020 Elsevier B.V.
URI
http://hdl.handle.net/20.500.11750/12779
DOI
10.1016/j.autcon.2020.103264
Publisher
Elsevier B.V.
Files:
There are no files associated with this item.
Collection:
Division of Intelligent Robotics1. Journal Articles


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