Trajectory-following Control for Manipulator of Wheel Loaders Based on Computed Torque

Abstract

Abstract: To complete trajectory-following control for a manipulator of wheel loaders in a digging process, the kinematics and dynamics models of the manipulator of wheel loaders are built. The trajectory-following controller considering resistance compensation is designed by using computed-torque approach. The kinematics and dynamics models of the manipulator and the controller model are built under Matlab/Simulink environment. The three-dimensional model of ZL50 loader built under Solidworks environment is imported into ADAMS. The results of ADAMS-Matlab co-simulation, show that this control approach can achieve high accuracy in trajectory-following control for a manipulator of wheel loaders.

Key words: ADAMS-Matlab co-simulation, Computed-torque approach, Dynamics, Manipulator, Trajectory-following, Wheel loader

CLC Number:

TH243

GONG Jie;BAO Jinfeng;YI Guanchao;CUI Yuxin. Trajectory-following Control for Manipulator of Wheel Loaders Based on Computed Torque[J]. , 2010, 46(13): 141-146.

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Trajectory-following Control for Manipulator of Wheel Loaders Based on Computed Torque

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