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Development of Autonomous Excavation Technology for Hydraulic Excavators
Hiroshi Yamamoto,Masaharu Moteki,Hui Shao,Takashi Ootuki 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Because extensive dangerous and grueling work is still performed at disaster restoration work sites, research and development of unmanned execution technologies for use to enhance safety has been undertaken. This reportpresents an outline of research and development concerning autonomous excavation by hydraulic excavator performed by applying an IT execution system. As a result of the verification of the excavation motion, finishing excavation wasconfirmed that the difference between the planned trajectory and the trajectory of the actual movement of the tip of the bucket can be kept within 0.1m. It also achieved autonomous loading of the crawler dump truck.