Title:
Compensation for Biodynamic Feedthrough in Backhoe Operation by Cab Vibration Control

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dc.contributor.author Humphreys, Heather C. en_US
dc.contributor.author Huggins, James D. en_US
dc.contributor.author Book, Wayne J. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-05-24T20:06:10Z
dc.date.available 2011-05-24T20:06:10Z
dc.date.issued 2011-05
dc.description ©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China. en_US
dc.description.abstract This research investigates and seeks to mitigate the undesirable effects of biodynamic feedthrough in backhoe operation. Biodynamic feedthrough occurs when motion of the controlled machine excites motion of the human operator, which is fed back into the control input device. This unwanted input can cause significant performance degradation, which can include limit cycles or even instability. Backhoe user interface designers indicate that this is a problem in many conventional machines, and it has also proved to degrade performance in this testbed. A particular backhoe control system, including the biodynamic feedthrough, is modeled and simulated. Cab vibration control is selected as a means to mitigate the biodynamic feedthrough effect. Two controller based methods are developed based on these models and presented, both of which use the working implement itself to reduce the cab motion. In this case, the backhoe arm has dual functionality, to perform excavation operations and to cancel cab vibration. Results show that significant reductions in cab motion can be obtained with minimal tracking performance degradation, without additional actuators. en_US
dc.identifier.citation Heather C. Humphreys, Wayne J. Book and James D. Huggins, "Compensation for Biodynamic Feedthrough in Backhoe Operation by Cab Vibration Control," 2011 IEEE international Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China. en_US
dc.identifier.uri http://hdl.handle.net/1853/38975
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Biodynamic feedthrough en_US
dc.subject Vibration en_US
dc.subject Backhoes en_US
dc.subject Backhoe control systems en_US
dc.subject Excavators en_US
dc.title Compensation for Biodynamic Feedthrough in Backhoe Operation by Cab Vibration Control en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication 45966a3c-59ea-44fc-980a-96d543c035f0
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relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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