TY - GEN
T1 - Development of a load detecting system with three-valued output for construction manipulator
AU - Kamezaki, Mitsuhiro
AU - Nakamura, Kosuke
AU - Hashimoto, Satoshi
AU - Iwata, Hiroyasu
AU - Sugano, Shigeki
PY - 2011
Y1 - 2011
N2 - In this paper, a practical system for detecting (identifying the on-off state of) the load applied to a construction manipulator (front load) by using a hydraulic sensor is presented. Such an industrial application requires high accuracy and robustness considering the uncertainty in hydraulic pressure-based force measurement. Therefore, our system is composed of (a) identifying the dominant error force component and binarizing the analog external cylinder force, (b) evaluating detection conditions to handle indeterminate states and redefining three-valued outputs (on, off, or not determinate (ND)), and (c) outputting the reliability-ensured front load decision by combining all the cylinder decisions through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our system properly detects on, off, and ND states of the front load in various detection conditions.
AB - In this paper, a practical system for detecting (identifying the on-off state of) the load applied to a construction manipulator (front load) by using a hydraulic sensor is presented. Such an industrial application requires high accuracy and robustness considering the uncertainty in hydraulic pressure-based force measurement. Therefore, our system is composed of (a) identifying the dominant error force component and binarizing the analog external cylinder force, (b) evaluating detection conditions to handle indeterminate states and redefining three-valued outputs (on, off, or not determinate (ND)), and (c) outputting the reliability-ensured front load decision by combining all the cylinder decisions through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our system properly detects on, off, and ND states of the front load in various detection conditions.
KW - Construction machinery
KW - hydraulic sensor
KW - load detecting system
KW - three-valued output
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M3 - Conference contribution
AN - SCOPUS:81255196852
SN - 9784907764395
T3 - Proceedings of the SICE Annual Conference
SP - 2194
EP - 2199
BT - SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PB - Society of Instrument and Control Engineers (SICE)
T2 - 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Y2 - 13 September 2011 through 18 September 2011
ER -