Simplification of the dynamic model of a hydraulic rockbreaker for implementation in a model-based control scheme
Bibliographic record
Abstract
A model-based approach to control the automation of hydraulic excavators and rockbreakers necessitates an adequate dynamic model to increase the robustness of the controller and improve its performance (e.g., reduce tracking error). Most previous efforts in developing dynamic models for excavators have assumed planar motion while neglecting the dynamic effects of hydraulically driven prismatic actuators. In this paper, a dynamic model of the mechanical subsystem of a hydraulic rockbreaker is developed using the Euler–Lagrange formulation. The model considers the contributions of the hydraulic actuators and does not assume planar motion. Potential simplifications to the dynamic model are then introduced to facilitate the model’s parameterization for developing an adaptive control algorithm. To evaluate their level of accuracy, these simplified dynamic models are then evaluated based on the required joint torques for specified trajectories. It is shown that the proposed simplifications reduce the complexity of the dynamic model while preserving its accuracy, which is attractive for real-time control applications.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".