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A Study on Real-time Simulation and Control of Virtual Excavator

机译：虚拟挖掘机的实时仿真与控制研究

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Hydraulic excavators are among the most versatile earthmoving equipment: these machines are used in civil engineering,hydraulic engineering,grading and landscaping,pipeline construction and mining.Their main functions are digging,material handling and ground levelling.However,it is not safe for the worker to operate the excavator on the risk environments.Consequently,excavator's unmanned research focused on a few universities and companies are being studied.One of the most important things for researching automation of excavator is control of excavator.To find a feasible way to control excavator,firstly the Full Kinematic and dynamic model of the excavator's manipulator which three degrees of freedom were studied.The inverse kinematic equations are used to determine the joint angles and the actuator lengths corresponding to a specific position and orientation of the bucket,given in the base coordinate system.This paper will present a PID-computed torque control and design of a virtual excavating system base on real-time simulation.Some simulation results are given.
机译：液压挖掘机是用途最广泛的土方设备之一：这些机器用于土木工程，水利工程，平地和美化环境，管道建设和采矿。它们的主要功能是挖掘，物料搬运和地面平整。因此，正在研究针对少数几所大学和公司的挖掘机无人值守的研究。对于挖掘机自动化的研究，最重要的事情之一就是挖掘机的控制。寻找一种可行的方法来控制挖掘机首先，研究了三个自由度的挖掘机机械手的完整运动学和动力学模型。逆运动学方程式用于确定与铲斗的特定位置和方向对应的关节角度和执行器长度（在给定的基础上）本文将介绍PID计算的转矩控制和虚拟设计基于实时仿真的挖掘系统。给出了一些仿真结果。

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