Study on position and orientation detection of hydraulic excavator by FST and its application to control

Abstract

FST is a realtime sensing device for position and orientation of mechanisms. It consists of a serial link chain, of which potentiometers are embedded in all joints. Position and orientation of each link would be obtained by solving the froward kinematics of the serial structure. Aiming for controlling hydraulic excavators, anticipated specification of FST was examined, and a prototype was developed. The performance of the prototype was evaluated through a series of experiments.