Modelling and Remote Control of an Excavator

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Authors: Liu, Y., Hasan, M.S. and Yu, H.N.

Journal: International Journal of Automation and Computing

Volume: 7

Issue: 3

Pages: 349-358

eISSN: 1751-8520

ISSN: 1476-8186

DOI: 10.1007/s11633-010-0514-8

This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified. © 2010 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

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