EAN: 9783985551293

A METHOD FOR DYNAMIC PAYLOAD ESTIMATION IN HYDR...

This work describes a method for accurate and dynamic payload estimation for mobile hydraulic
excavators. It comprises of a base analytical model that expresses the payload as a function of
joint torques and motion parameters  complimented using a machine-learning model that uses a
data-driven approach to significantly increase the accuracy of the overall payload estimate.
Measurements performed on a target excavator validate the accuracy of the method under real
world conditions.

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