Automation of an Excavator Based on a 3D CAD Model and GPS Measurement

Abstract

Automation of an Excavator Based on a 3D CAD Model and GPS Measurement Tomi Makkonen, Kalervo Nevala, Rauno Heikkilä Abstract: This study examines the possibilities of controlling a six degrees of freedom excavator with the final objective of controlling the movements of the excavator by using a CAD model of the road surface. Compared to the traditional excavator with 4 DOF, the excavator was provided with two additional degrees of freedom by applying the 2 DOF Rototilt, an accessory commonly in use. The advantages of automation are faster process of working and less demands on the operator. To study this problem, an Msc.Adams with Matlab/Simulink simulation environment was used. Keywords: robotic excavator, path generation, dig planning, modeling, simulation, triangular terrain model, CAD DOI: https://doi.org/10.22260/ISARC2004/0047 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley