ASCE will be sunsetting the Civil Engineering Database (CEDB) in the coming months. We encourage you to start using the ASCE Library to perform content searches. In the ASCE Library, you can save your search results as well as receive email content alerts when new content relevant to your area of interest is published. Try it out today at https://ascelibrary.org.

 

Kinematics and Trajectory Planning for Robotic Excavation

by P. K. V?h?, Technical Research Cent of Finland, Oulu, Finland,
M. J. Skibniewski, Technical Research Cent of Finland, Oulu, Finland,
A. J. Koivo, Technical Research Cent of Finland, Oulu, Finland,



Document Type: Proceeding Paper

Part of: Preparing for Construction in the 21st Century

Abstract:

One of the high volume and repetitive construction operations at the construction site is the excavation of soil. Automation of the excavation work requires a robotic system that is able to perform the planned digging work and responsive to interaction forces experienced during excavation. This paper describes the kinematics approach and trajectory planning of an excavator. The kinematics is based on the use of trigonometry instead of homogeneous transformations. For determining the soil resistance, the effect of type of soil on digging is analyzed. The soil resistance determines the scooping depth, and the orientation of the bucket depends on the digging direction.

Subject Headings: Excavation | Automation and robotics | Kinematics | Load and resistance factor design | Construction sites | Soil analysis | Construction equipment

Services: Buy this book/Buy this article

 

Return to search