A simulation of a road scraper control

The automatic control system of the road scraper is based on a 6-D positioning system which measures the position and the orientation of the front frame. Measured information is compared with the numerical road design data, and the control system calculates the desired positions for the cutting blade of the road scraper. A method which controls the position and the orientation of the blade of the road scraper with two lifting cylinders and one sideways moving cylinder is presented in this paper. The inverse kinematics of the road scraper is solved using trigonometric and iterative methods. Inverse kinematics has been verified with the Igrip simulation program. The road scraper has been modeled in the CAD-section of the program. The simulated mechanism has 15 joints (or DOFs), but the real mechanism only 6.