Development of a load detecting system with three-valued output for construction manipulator

Mitsuhiro Kamezaki, Kosuke Nakamura, Satoshi Hashimoto, Hiroyasu Iwata, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a practical system for detecting (identifying the on-off state of) the load applied to a construction manipulator (front load) by using a hydraulic sensor is presented. Such an industrial application requires high accuracy and robustness considering the uncertainty in hydraulic pressure-based force measurement. Therefore, our system is composed of (a) identifying the dominant error force component and binarizing the analog external cylinder force, (b) evaluating detection conditions to handle indeterminate states and redefining three-valued outputs (on, off, or not determinate (ND)), and (c) outputting the reliability-ensured front load decision by combining all the cylinder decisions through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our system properly detects on, off, and ND states of the front load in various detection conditions.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2194-2199
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

Keywords

  • Construction machinery
  • hydraulic sensor
  • load detecting system
  • three-valued output

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kamezaki, M., Nakamura, K., Hashimoto, S., Iwata, H., & Sugano, S. (2011). Development of a load detecting system with three-valued output for construction manipulator. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 2194-2199). [6060337] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).