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Author: | Halbach, Eric |
Title: | Development of a Simulator for Modeling Robotic Earth-Moving Tasks |
Publication type: | Master's thesis |
Publication year: | 2007 |
Pages: | 63 s. + liitt. Language: eng |
Department/School: | Automaatio- ja systeemitekniikan osasto |
Main subject: | Automaatiotekniikka (AS-84) |
Supervisor: | Halme, Aarne ; Hyyppä, Kalevi |
Instructor: | Ylikorpi, Tomi |
OEVS: | Electronic archive copy is available via Aalto Thesis Database.
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Location: | P1 Ark Aalto 5142 | Archive |
Keywords: | earth-moving simulation robotic earth-moving |
Abstract (eng): | Functions for modeling vehicle-ground interaction for an Avant front-end loader were developed for the simulation of robotic earth-moving tasks. A stand-alone Matlab program was used to test the functions, which are meant to be the first step in implementing vehicle-ground interaction capability in the GIM Integrator simulator, part of a joint project between TKK and TUT. The test program consisted of an automated sequence of scooping and dumping operations for moving a pile from one location to another. Slope re-settling algorithms were developed to make the simulation more realistic. Ground penetration by the scoop was purely kinematic, i.e. no forces were modeled. The overall program provides a good simulation of volume distribution and soil behaviour during earth-moving tasks, and total volume is conserved within a small margin. |
ED: | 2007-10-17 |
INSSI record number: 34740
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