Parameter estimation and actuator friction analysis for a mini excavator

TitleParameter estimation and actuator friction analysis for a mini excavator
Publication TypeConference Paper
Year of Publication1996
AuthorsTafazoli, S., P. D. Lawrence, S. E. Salcudean, D. Chan, S. Bachmann, and C. W. De Silva
Conference NameRobotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Pagination329 -334 vol.1
Date Publishedapr.
Keywordsactuator friction analysis, actuators, computerised control, cylinder reaction forces, decoupled estimation, excavators, friction, gravitational parameters, heavy-duty hydraulic machines, hydraulic control equipment, joint torques, manipulators, mini excavator, parameter estimation, static friction, torque measurement

Gravitational and friction terms play an important role in achieving high performance control of heavy-duty hydraulic machines, such as excavators. In this paper, a new approach for decoupled estimation of the gravitational parameters is presented. Static experiments are carried out with an instrumented computer-controlled mini excavator to estimate the gravitational parameters. Load pins are used for indirect measurement of the joint torques from cylinder reaction forces. It is investigated via experiments that bucket payload can be estimated with a 5% accuracy. Furthermore, direct measurement of the actuators' friction shows that considerable amount of static friction exists inside the cylinders that cannot be neglected


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