Research on Excavator Trajectory Control Based on Hybrid Interpolation

In this study, to address the issues of tooth tip operation discontinuity and jitter during autonomous excavator operation, a multi-segment mixed interpolation method utilizing different higher-order polynomials has been proposed. This approach is designed to optimize the tooth tip trajectory of the excavator under multiple constraints, resulting in a smoother trajectory. Specifically, the single-bucket excavator was chosen as the research object, and three different high-order mixed polynomials were utilized to interpolate the trajectory of the digging discrete points. Through a comparative analysis under multiple constraints, this study explored and analyzed the joint angle, angular velocity, and angular acceleration curves of each excavator's joint. An experimental platform was established to investigate the hydraulic system of an excavator, and the optimal trajectory was controlled using a high-order mixed polynomial interpolation. The results of this study demonstrate that the tracking accuracy of the excavator's actuator under the optimal interpolation strategy is high, with a maximum displacement deviation of +/- 3 mm. Additionally, during operation, the excavator manipulator runs smoothly and continuously with minimal flexible impact and vibration.

Automated summary

This study proposes a multi-segment mixed interpolation method using different higher-order polynomials to optimize the tooth tip trajectory of an excavator. It addresses the issues of discontinuity and jitter during autonomous excavator operation, resulting in a smoother trajectory. Comparative analysis and experimental investigation demonstrate high tracking accuracy, minimal displacement deviation, and smooth operation with minimal impact and vibration.