자동 굴삭을 위한 스토로크 센싱 실린더 위치 제어

The Position Control of Stroke Sensing Cylinder for Automatic Excavation

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we developed an interfacing hardware part of stroke sensing cylinder using magnetic sensor and estimated its performance. It is illustrated by experiment that the proposed control system by stroke sensing cylinder gives good performances in the position control