Compensation for Biodynamic Feedthrough in Backhoe Operation by Cab Vibration Control

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38975

Title: Compensation for Biodynamic Feedthrough in Backhoe Operation by Cab Vibration Control
Author: Humphreys, Heather C. ; Huggins, James D. ; Book, Wayne John
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.
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. Presented at the 2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China.
Type: Proceedings
Post-print
URI: http://hdl.handle.net/1853/38975
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.
Date: 2011-05
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Biodynamic feedthrough
Vibration
Backhoes
Backhoe control systems
Excavators

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