Inertial parameter estimation for the dynamic simulation of a hydraulic excavator
- 54 Downloads
This paper presents a systematic method for estimating the inertial parameters of an excavator. The method utilizes dynamic excavator models with the pressure and displacement measurements of the hydraulic actuators. Provided that the geometrical parameters of the mechanical linkages are obtained with relatively high accuracy, the dynamic model is factored into the unknown inertial parameter vector and the known kinematic matrix. The contribution of each inertial parameter on the actuator force under the specific motion is explored through a dynamic sensitivity analysis. The results are then used to investigate various properties of the inertial parameters and categorize them into identifiable, unrelated to dynamics, and known parameter groups, according to numerical properties of the kinematic matrix. Then the identifiable inertial parameters are estimated sequentially, and the guideline for the optimal excavator position at each estimation step is suggested in order to minimize estimation error. The practicality of this method is demonstrated via data acquired using an actual hydraulic excavator.
KeywordsExcavator Inertial parameter estimation Optimization Parameter categorization Sensitivity analysis
Unable to display preview. Download preview PDF.
- Y. B. Kim, H. Kang, J. H. Ha, M. S. Kim, P. Y. Kim, S. J. Baek and J. Park, Study on the virtual digging simulation of a hydraulic excavator, 28th International Symposium on Automation and Robotics in Construction ISARC (2011) 95–100.Google Scholar
- P. K. Khosla and T. Kanade, Parameter identification of robot dynamics, 24th IEEE Conference on Decision and Control (1985) 1754–1760.Google Scholar
- B. Armstrong, On finding 'exciting' trajectories for identification experiments involving systems with non-linear dynamics, IEEE International Conference on Robotics and Automation (1987) 1131–1139.Google Scholar
- W. Rackl, R. Lampariello and G. Hirzinger, Robot excitation trajectories for dynamic parameter estimation using optimized B-splines, IEEE International Conference on Robotics and Automation (ICRA) (2012) 2042–2047.Google Scholar
- N. Bennet, A. Walawalkar and C. Schindler, Payload estimation in excavators-model based evaluation of current payload estimation systems, Proceedings of the 3rd Commercial Vehicle Technology Symposium (2014) 333–346.Google Scholar
- F. Ballaire and S. Muller, Dynamic weighing with a front loader, 71st International Agricultural Engineering Conference (2013) 413–418.Google Scholar
- C. Gaz and A. D. Luca, Payload estimation based on identified coefficients of robot dynamics-with an application to collision detection, IEEE/RSJ International Conference on Intelligent Robots and Systems (2017) 3033–3040.Google Scholar
- A. Gawlik and P. Kucybala, Dynamic weighing system-used in excavator, Journal of KONES Powertrain and Transport, 24 (4) (2017) 31–38.Google Scholar
- J. J. Hindman, Dynamic payload estimation in four-wheel drive loaders, Dissertation, University of Saskatchewan, Saskatchewan Canada (2008).Google Scholar