Research On Excavator Digging Of Tactile Perception

Hydraulic excavator is a kind of widely used construction equipment with the typical functions and complicated working conditions. With computer technology, electronic technology, sensor technology, mechanical and electrical integration technologies are improved, hydraulic excavator is also becoming the carrier of a variety of high-tech comprehensive integration towards high efficiency, high reliability, security, energy and automation, intelligent Direction. The final purpose of excavator robot is to take place of the traditional hydraulic excavator ,to expand the applied field, to adapt to the badly and dangerous conditions, to improve the construction quality, and to reduce the cost of manpower.In this paper, based on the traditional excavator to enhance excavator perception, proposed the development of haptical enhanced robot, and probe the ways of the machine control system architecture, function, and manipulator operations. In order to meeting the need of haptic enhanced robotic excavator, I draw up the robotic excavator job requirements and overall program. Refer to the relevant information to establish a robotic excavator kinematics, dynamics of working device model, and discussed the haptic enhanced robotic excavator system design.Based on AMESim and SIMLINK, established a simulation model for the robotic excavator system. Based on the combined simulation model, studied the control algorithm of force control, position control, vibration excavating control, impedance control , obstacles surface tracking control ,and so on ,typical manipulator operations .The simulation results are analyzed for further study ,pointed out the direction of the further research.