油圧エキスカベータの新操作方式の研究 : 第2報,非線形補償と偏差速度ベクトルのフィードバック

抄録

Although a hydraulic excavator equipped with two arms and a bucket possesses great versatility, its two lever control system is difficult to operate manually. The previous report proposed a new monolever system. This new system would allow the operator to easily control the velocity vector of the portion of the second arm as well as the angular velocity of the bucket with a single stick. In order to achieve this design the following control schemes have been developed : (1) Compensation for the nonlinearity which is caused by the stroke end of the bucket cylinder and the link motion of each arm cylinder. (2) Compensation for the steady state error with a feed forward path. (3) Utilizing feedback from the velocity error vector which is generated by the position error between the ideal and real trajectories.