Paper Info
Title
Admittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne Load-Haul-Dump Machine.
Abstract
This paper describes the design, tuning, and extensive field testing of an admittance-based autonomous loading controller ALC for robotic excavation. Several iterations of the ALC were tuned and tested in fragmented rock piles-similar to those found in operating mines-by using both a robotic 1-tonne capacity Kubota R520S diesel-hydraulic surface loader and a 14-tonne capacity Atlas Copco ST14 underground load-haul-dump LHD machine. On the R520S loader, the ALC increased payload by 18% with greater consistency, although with more energy expended and longer dig times when compared with digging at maximum actuator velocity. On the ST14 LHD, the ALC took 61% less time to load 39% more payload when compared to a single manual operator. The manual operator made 28 dig attempts by using three different digging strategies, and had one failed dig. The tuned ALC made 26 dig attempts at 10﾿and﾿11﾿MN target force levels. All 10 11﾿MN digs succeeded while 6 of the 16 10﾿MN digs failed. The results presented in this paper suggest that the admittance-based ALC is more productive and consistent than manual operators, but that care should be taken when detecting entry into the rock pile.
Year
DOI
Venue
2017
10.1002/rob.21654
J. Field Robotics
Field
DocType
Volume
Pile,Control theory,Tonne,Simulation,Loader,Engineering,Admittance,Payload,Actuator
Journal
34
Issue
ISSN
Citations 
1
1556-4959
2
PageRank 
References 
Authors
0.53
10
3
Name
Order
Citations
PageRank
Andrew A. Dobson120.53
Joshua A. Marshall239548.45
Johan Larsson3515.32