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Modelling and remote control of an excavator

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Abstract

This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.

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Authors and Affiliations

  1. Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST18 0AD, UK

    Yang Liu, Mohammad Shahidul Hasan & Hong-Nian Yu

  2. Centre for Applied Dynamics Research, School of Engineering, University of Aberdeen, Aberdeen, AB24 3UE, UK

    Yang Liu

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  1. Yang Liu
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  2. Mohammad Shahidul Hasan
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  3. Hong-Nian Yu
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Corresponding author

Correspondence to Yang Liu.

Additional information

Yang Liu received the B.Eng. degree in automation from Hunan University, PRC in 2003, and the M. Sc. degree in control systems from The University of Sheffield, UK in 2005, and the Ph.D. degree in robotics from Staffordshire University, UK in 2010. He is currently a research fellow with the Centre for Applied Dynamics Research, School of Engineering, the University of Aberdeen, UK.

His research interests include control of underactuated systems, mobile robots, and mechatronics.

Mohammad Shahidul Hasan received the B. Sc. and first M. Sc. degrees in computer science from the University of Dhaka, Bangladesh. He received the second M. Sc. degree in computer and network engineering from Sheffield Hallam University, UK. He has been awarded a Ph.D. degree at Staffordshire University, UK in networked control systems over mobile ad-hoc network (MANET). He worked as a assistant professor in the Department of Computer Science and Engineering at the University of Dhaka in Bangladesh. Currently, he is a lecturer at Staffordshire University.

His research interests include computer networks, networked control systems, and remotely controllable mobile robot systems.

Hong-Nian Yu has held academic positions at the Universities of Yanshan, Sussex, Liverpool John Moor, Exeter, Bradford, and Staffordshire. He is currently a professor of computer science and the director of Mobile Fusion Applied Research Centre at Staffordshire University, UK.

He research interests include modelling and control of robots and mechatronics devices and neural networks, mobile computing, modelling, scheduling, planning and simulations of large discrete event dynamic systems, radio frequency identification (RFID) with applications to manufacturing systems, supply chains, transportation networks, and computer networks.

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Liu, Y., Hasan, M.S. & Yu, HN. Modelling and remote control of an excavator. Int. J. Autom. Comput. 7, 349–358 (2010). https://doi.org/10.1007/s11633-010-0514-8

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  • DOI: https://doi.org/10.1007/s11633-010-0514-8

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