IDENTIFICATION OF KINEMATIC PARAMETERS FOR ESTIMATION OF EXCAVATOR ARM TOP POSITION

Abstract

For automated control of the bucket position and orientation of excavator, it is necessary to measure the 3D position of the bucket tip in real time. For its estimation by measuring the link orientations, it is necessary to accurately identify in advance the kinematic parameters of the excavator, such as the length of the boom, arm and bucket. In this study, we propose an identification method of excavator kinematic parameters by measuring the arm top position using a laser tracker. The estimation performance of the arm top position, based on the identified kinematic parameters and the link orientations measured by inertial measurement units (IMUs), is experimentally investigated.