Feng, H; Song, Q; Yin, C and Cao, D (2022) Adaptive impedance control method for dynamic contact force tracking of robotic excavators. Journal of Construction Engineering and Management, 148(11): 04022124, ISSN 0733-9364
Abstract
Robotic excavators commonly are used in industrial and construction tasks to improve efficiency and shorten construction periods, but they have high energy consumption and vibration and shock problems, the greatest of which is impact phenomenon in contact with construction environment. A perfect construction task with low vibration and high precision can be achieved only by skilled operators, and requires very intense concentration. Due to the urgent labor shortage caused by the pandemic, tight schedules, and increasingly complex construction projects, it is important for construction management to have an intelligent control method that combines the force and position of excavators in the construction progress. This study developed an adaptive impedance control method to realize coordinated control of force and position. An adaptive impedance control was designed to adjust the impedance parameters indirectly. Three different simulations were conducted to compare the force tracking performance of the classic impedance control and the proposed adaptive impedance control, namely, environmental location changes, environmental stiffness changes, and dynamic force tracking. Blended contact surfaces were designed to validate the performance of the control algorithms. Results show that the proposed adaptive impedance control effectively improved the force tracking accuracy. This paper offers an original contribution to the intelligent control method of excavator construction, and will be of use to operators, especially in large ground, mine, earthquake, and other complex ground construction sites. In addition, the research also provides construction manager and other practitioners with an impedance control method in construction project management that can save labor cost, improve production efficiency, and accelerate the transformation to a digital and intelligent construction industry.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | construction; electrohydraulic system; excavator; force control; impedance control |
| Index terms: | construction site, accuracy, construction project, practitioner, construction manager, control algorithm, vibration, pandemic, efficiency, control method, transformation, earthquake, energy consumption, labour cost, construction project management, labour shortage, construction industry |
| Subjects: | energy systems, work location, practitioner, profession, mechanical systems, business, industry analysis, environmental hazards, cost management, monitoring and control, production management, project management theory and practice, professional development, health risk and incident analysis, economics, performance management, algorithms |
| Topics: | Procurement, Sustainability, Roles and Professions, Research Practice, Project Management, Information Management, Engineering Principles, Business Strategy, Health and Safety, Site Management, Quality Management, Supply Chain Management, Digital Applications |
| Descriptive scope: | 3 PCT |
N.B. Descriptive scope is a count of how many of the five facets of empirical research are indicated by the words used in title, abstract and keywords. It is not intended as a judgement on the research; merely a count of the kind of word we would expect to indicate Phenomenon, Concepts, Theoretical framing, Empirical techniques, Analytical techniques. If all five are present, then a code of “5 PCTEA” will indicate this. If you feel the coding for this record is questionable, we welcome discussion around the terms we matched or the way we categorized them. The facet you would expect may not be coded, or a facet may be coded inappropriately. This can also bear on a larger question, of which facets should be treated as defining in construction management research. Please get in touch, and we will look at it. More details here