2021 Volume 57 Issue 3 Pages 138-144
In recent years, the labor force in construction industries is declining, and even inexperienced workers need to achieve high productivity. In particular, hydraulic excavators are widely used in construction sites, however, the operation is complicated and it takes time to learn the skills. Therefore, the productivity in the site is affected depending on the skills of operators, supportive measures are required. In a previous research, focusing on the velocity of the Center of Mass (CoM) of the attachment, a control to assist the digging operation was proposed, and it was confirmed that smooth digging work can be performed even by novice operators. However, the control performance for the nonlinear characteristics of excavation caused by reaction force from the soil is not sufficient. In this paper, the digging control using the database-driven control to respond the nonlinear characteristics for hydraulic excavators is proposed. The effectiveness of the proposed method is verified by implementation for a hydraulic excavator.
