Dynamic modeling and identification of earthmoving engines without kinematic constraints: application to the compactor
- Resource Type
- Conference
- Authors
- Guillo, E.; Gautier, M.
- Source
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Robotics and automation Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on. 3:2346-2351 vol.3 2000
- Subject
- Robotics and Control Systems
Computing and Processing
Signal Processing and Analysis
Engines
Kinematics
Vehicle dynamics
Roads
Wheels
Tree data structures
Mobile robots
Rain
Least squares methods
Levee
- Language
- ISSN
- 1050-4729
This paper deals with the design and the identification of the dynamic model of a compactor, an articulated frame steering mobile engine for use in road construction. The theoretical development is based on an extended classical robot description and takes the contact strengths between rigid wheels and unprepared terrain into account. This formulation allows the automatic symbolic calculation on the dynamic model. The achieved model is linear in relation to a set of dynamic parameters which can be identified using a weighted least squares method. A survey of these techniques is given and applied to the experimental identification of the dynamic parameters of the compactor.