| "This paper described a method of the bucket trajectory planning of hydraulic excavator with describing on a through excavating and dumping work cycle, an efficient analysis method of geometric trajectory satisfied with mechanical geometric constraint by looking up a table for autonomous excavator robot is provided. The primary contribution of this paper is the development of the automatic excavation and dumping process of one cycle as a first step of a trench digging task. The paper presents the results of planed trajectory including moving to destination, motion during scooping, haul and rotation, dump and initial position return. And an experiment result in air space without rotation operation is provided. The key quantifiable benefits of this application include automation, the removal of human workers from the exposure to harsh work environment, potential to increase process productivity, and significant labor savings. " |
