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Project type/Form of grant
Project grant
Title [sv]
AUTOMATION OF FRONT END LOADERS FOR AGRICULTURAL TRACTORS
Title [en]
AUTOMATION AV FRONTASTARE FÖR JORDBRUKSTRAKTORER
Abstract [sv]
The project aims to formulate and develop scientific principles and theoretically justified approaches for systematic model-based design of automatic controllers for autonomous operation of a hydraulically actuated agricultural front end loader.Four tasks of scientific and industrial significance will be executed (i) to develop and identify a control system design based on mathematical and numerical models; (ii) to develop a feedback controller that is insensitive to system variations, and to create a motions trajectories that automates of frequent work tasks for the operator; (iii) to develop a controller for active suspension of the loader arm, and to (iv) generalize the controller in the to a new front end loader design.Recently developed trajectory planning and control design techniques used in an earlier project for control of cranes on forestry cranes will be used as a starting point for the work. In addition we also plan to introduce some novel approaches using non-standard for classical robotics, e.g. automatic feedback on one link under manual control of the other link.The formulated principles will be systematically used, studied, and tuned by developing a new generation control system and verifying performance in practice by implementing it as a prototype for a particular commercial front end loader attached on an agricultural tractor.
Principal InvestigatorFreidovich, Leonid
Coordinating organisation
Umeå University
Funder
Period
2013-06-01 - 2017-05-31
National Category
RoboticsControl Engineering
Identifiers
DiVA, id: project:1216Project, id: 2012-04172_VR

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