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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
出版社Society of Instrument and Control Engineers (SICE)
ページ2194-2199
ページ数6
ISBN(印刷版)9784907764395
出版ステータスPublished - 2011 1 1
イベント50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
継続期間: 2011 9 132011 9 18

出版物シリーズ

名前Proceedings 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

ASJC Scopus subject areas

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

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