| Citation: | DONG B X，QIN T，YANG X，et al. Human-machine collaborative control of forward shovel hydraulic mining excavators[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（6）：1952-1959 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0517
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In view of the high operation complexity of forward shovel hydraulic mining excavators, a general human-machine collaborative control method was proposed. This paper compared the performance of three new working devices which could reduce the operation complexity of the forward shovel hydraulic excavators under the boom lifting and horizontal crowding operation modes. The results show that the innovative design of the working devices has the problems of complex mechanisms and low operation accuracy. The human-machine collaborative control method based on inverse kinematics and switching control adopts the strategy that the driver manually controls the main actuator, and other auxiliary actuators cooperate independently according to the constraints of operation requirements. This not only ensures the operation accuracy but also reduces the operation difficulty of drivers. The research results show that the proposed human-machine collaborative control method can reduce the operation complexity and improve the operation accuracy and efficiency of the forward shovel excavators under the boom lifting and horizontal crowding operation modes. The method has the advantages of flexible mode switching and strong universality.
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