Research on Excavator Trajectory Control Based on Hybrid Interpolation

Jing Yang, Yingjie Gao (), Rui Guo, Qingshan Gao and Jingyi Zhao
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Jing Yang: Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
Yingjie Gao: Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
Rui Guo: Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
Qingshan Gao: Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
Jingyi Zhao: Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China

Sustainability, 2023, vol. 15, issue 8, 1-21

Abstract: In this study, to address the issues of tooth tip operation discontinuity and jitter during autonomous excavator operation, a multi-segment mixed interpolation method utilizing different higher-order polynomials has been proposed. This approach is designed to optimize the tooth tip trajectory of the excavator under multiple constraints, resulting in a smoother trajectory. Specifically, the single-bucket excavator was chosen as the research object, and three different high-order mixed polynomials were utilized to interpolate the trajectory of the digging discrete points. Through a comparative analysis under multiple constraints, this study explored and analyzed the joint angle, angular velocity, and angular acceleration curves of each excavator’s joint. An experimental platform was established to investigate the hydraulic system of an excavator, and the optimal trajectory was controlled using a high-order mixed polynomial interpolation. The results of this study demonstrate that the tracking accuracy of the excavator’s actuator under the optimal interpolation strategy is high, with a maximum displacement deviation of ±3 mm. Additionally, during operation, the excavator manipulator runs smoothly and continuously with minimal flexible impact and vibration.

Keywords: hydraulic excavator; higher-order polynomial; mixed interpolation strategy; trajectory planning (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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