掘削面に対する油圧ショベル作業具正対手法に関する研究

抄録

We present a method to face hydraulic excavator attachments parallel to target surfaces by determining the boom, arm, bucket, and tilt angles of the manipulator. In order to determine these four angles, Powell’s method is employed to find a local minimum of the objective function where the evaluation of the derivatives is not required. Examples are provided to demonstrate the effectiveness of the proposed method.