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지능형 굴삭기의 궤적 추종 오차 개선을 위한 중력 보상 제어기에 대한 연구
이창섭(C. S. Lee),홍대희(D. H. Hong),김태호(T. Kim),김기용(K. Kim),조용락(Y. Cho),장윤석(Y. Jang),장달식(D. Jang),장준현(J. Jang) 유공압건설기계학회 2009 유공압건설기계학회 학술대회논문집 Vol.2009 No.11
One of the most important factors in Intelligent Excavator is to locate the bucket fast and accurate to the right position. To locate the bucket accurately, the Arm and the hydraulic cyliner of the Boom should be exactly controlled. But as voltage and the force that should be controlled can be different by the positioning of the excavator, exact controlling is a difficult task. Only if we could control the gravity and the load, which is the main part in controlling the excavator in a slow system, it can be controlled more accurately. In this paper, we looked on how much the excavator could be controlled with gravity compensation.