dc.contributor.author | Šumanas, Marius | |
dc.contributor.author | Petronis, Algirdas | |
dc.contributor.author | Urbonis, Darius | |
dc.contributor.author | Januškevičius, Tomas | |
dc.contributor.author | Rasimavičius, Tadas | |
dc.contributor.author | Morkvėnaitė-Vilkončienė, Inga | |
dc.contributor.author | Dzedzickis, Andrius | |
dc.contributor.author | Bučinskas, Vytautas | |
dc.date.accessioned | 2023-09-18T20:44:24Z | |
dc.date.available | 2023-09-18T20:44:24Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 9781665449281 | |
dc.identifier.uri | https://etalpykla.vilniustech.lt/handle/123456789/152224 | |
dc.description.abstract | Automation techniques for controlled job execution in the excavation process are extremely useful for excavator tool trajectory generation, digging process simulation, and new tools or machines' developmental testing. Proper choice of sensors for excavator tool position determination is crucial for the successful implementation of automated systems. We used an industrial robotic arm to simulate excavator operation and determine the characteristics of available sensors. Four inertial measurement units (IMU) sensors mounted on the industrial robotic arm are used to estimate the joints positions and compare results with data from internal robot sensors. The obtained findings suggest that the chosen sensors are appropriate for the estimation of joint angle. It was found that the X axis error should be less than 2.27 degrees. If the Z axis is inevitable for some control task, additional sensors can be used to establish reference points for yaw angle calculation. | eng |
dc.format | PDF | |
dc.format.extent | p. 1-2 | |
dc.format.medium | tekstas / txt | |
dc.language.iso | eng | |
dc.relation.isreferencedby | IEEE Xplore | |
dc.relation.isreferencedby | Scopus | |
dc.rights | Prieinamas tik institucijos(-ų) intranete | |
dc.source.uri | https://ieeexplore.ieee.org/document/9431467 | |
dc.source.uri | https://talpykla.elaba.lt/elaba-fedora/objects/elaba:95515489/datastreams/MAIN/content | |
dc.title | Determination of excavator tool position using absolute sensors | |
dc.type | Straipsnis konferencijos darbų leidinyje Scopus DB / Paper in conference publication in Scopus DB | |
dcterms.references | 17 | |
dc.type.pubtype | P1b - Straipsnis konferencijos darbų leidinyje Scopus DB / Article in conference proceedings Scopus DB | |
dc.contributor.institution | Vilniaus Gedimino technikos universitetas | |
dc.contributor.faculty | Mechanikos fakultetas / Faculty of Mechanics | |
dc.contributor.department | Mechatronikos, robotikos ir skaitmeninės gamybos katedr... / Department of Mechatronics, Robotics and Digital Manufa... | |
dc.subject.researchfield | T 009 - Mechanikos inžinerija / Mechanical enginering | |
dc.subject.studydirection | E06 - Mechanikos inžinerija / Mechanical engineering | |
dc.subject.vgtuprioritizedfields | MC0101 - Mechatroninės gamybos sistemos Pramonė 4.0 platformoje / Mechatronic for Industry 4.0 Production System | |
dc.subject.ltspecializations | L104 - Nauji gamybos procesai, medžiagos ir technologijos / New production processes, materials and technologies | |
dc.subject.ltspecializations | C101 - Civilinės inžinerijos mokslo centras / | |
dc.subject.en | IMU sensors | |
dc.subject.en | position accuracy | |
dc.subject.en | excavator control | |
dc.subject.en | excavator assistant | |
dc.subject.en | robot arm | |
dcterms.sourcetitle | 2021 IEEE Open Conference of Electrical, Electronic and Information Sciences (eStream), 22 April 2021, Vilnius, Lithuania / organized by: Vilnius Gediminas Technical University | |
dc.identifier.eissn | 2690-8506 | |
dc.publisher.name | IEEE | |
dc.publisher.city | Piscataway, NJ | |
dc.identifier.doi | 10.1109/eStream53087.2021.9431467 | |
dc.identifier.elaba | 95515489 | |