Document
|
Description
|
Date
|
|
Control code (zip 6.6M) |
Matlab/Simulink/xPC
Target/C++ software for bilateral haptic control of the backhoe |
5/20/04 |
|
Test data (zip 113M) |
Matlab .mat
files of position tracking and pressure data from initial testing of
the haptic backhoe |
5/20/04 |
Thesis (pdf 5.9M)
Thesis files [zip 25.1M) |
Master's
thesis on the haptic backhoe project. Adobe .df version is the copy
approved by the reading committee and submitted to the GT graduate
studies office. The .zip file contains all the .tex and supporting .eps
and .pdf figures for compiling in LaTeX. |
5/7/04 |
Thesis
presentation (zip 49M)
Thesis
presentation (pdf 1.2M) |
Overview of
the haptic backhoe project as of the end of spring semester 2004 |
5/6/04 |
|
Backhoe Schematic (pdf 53K) |
Overall
hydraulic / electrical system diagram |
3/1/04 |
Power supply /
junction box
Power supply schematic (pdf 20K)
Layout (pdf 28K) |
Circuit design
of the power supply / junction box |
2/9/04 |
|
Project status
report (doc 0.5M) |
One-page status report of project |
|
|
Backhoe presentation fall '03 (ppt 17.5M) |
Presentation given to research group: "Modeling, Simulation, and
Design of a Haptic Backhoe--Part II" |
10/9/03 |
|
Hardware-in-the-Loop (HIL) Simulator
Operator's Manual
HIL Manual (pdf 2.4M)
HIL Manual (doc 7.9M) |
Instructions for setting up and running a Hardware in the Loop
simulation, used for hydraulic valve testing, system identification,
and overall system modeling |
8/9/03 |
|
Kinematics /
Dynamics (pdf 389K) |
Complete formulation of the kinematic transformations and LaGrangian
dynamic model of the backhoe.
Content to be used as part of my Master's Thesis. |
8/21/03 |
|
ProENGINEER CAD model / animation (zip 27.0M) |
Solid model files of the backhoe in ProE 2001 format (zipped)
Includes all parts, assemblies, animation trajectories, and movie
files. Files updated 5/20/04 |
8/21/03 |
|
Matlab/Simulink model
(zip 17.8M) |
Dynamic simulation of joystick and bucket in Matlab 5.3 format
(zipped). Files updated 5/20/04 |
8/21/03 |
|
Design Overview (pdf 1.9M)
Design Overview (ppt 3.4M) |
Overview of design, functions, and features. Many CAD model images. |
7/18/03 |
|
Bill
of Materials (xls 49K) |
Detail parts list for the backhoe project. Updated 7/18/03 |
7/18/03 |
|
Backhoe Proposal (pdf 202K) |
Proposed plan
for development of the Robotic Backhoe based upon goals set at meeting
at John Deere Research Center on |
6/3/03 |
|
Dubuque Presentation (ppt 1.1M) |
Presentation
at John Deere Research Center on 5/29/03. |
5/29/03 |
|
Dynamic Modeling and Control Design
(pdf 408K)
|
This report derives a dynamic model for a 1-dof haptic
joystick, proportional valve, cylinder, bucket, load, and soil. A controller
is designed and simulations presented, including velocity observer and
integral control action in state space format. |
4/24/03 |
|
Backhoe Kinematics (pdf 1.8M) |
This report is
a comprehensive derivation and simulation of the backhoe kinematics,
including a 2-dof digging simulation |
3/6/03 |
|
Haptic Backhoe Loader Concept
36" x 48" (ppt 674K) |
This poster
illustrates the initial concept of the Haptic Backhoe Loader. {rev 2} |
2/19/03 |
