Tip-over Prevention Control for a Teleoperated Excavator by an Adjustment of an Operation Input Based on ZMP Prediction

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  • SHIGEMATSU Kosuke
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • TSUBOUCHI Takashi
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • SARATA Shigeru
    Graduate School of Systems and Information Engineering, University of Tsukuba

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Other Title
  • 遠隔操縦油圧ショベルのための機体ZMPの予測に基づく操作入力の自動調整による転倒防止制御

Abstract

<p>This paper describes tip-over prevention control of a teleoperated excavator based on zero moment point (ZMP) prediction. This method predicts a future ZMP when an operation input is given, to determine the risk of tip-over by the operation input before an excavator moves. When the risk is detected, the operation input to the actuator is modified to keep excavator from falling. Future ZMP is predicted by computing a movement of a teleoperated excavator based on approximate hydraulic cylinder model and body pitching model. Through our experiments with scale models of the hydraulic drive, the proposed method have successfully prevented tip-over.</p>

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