Force Sensor for Construction Machines by They Hydraulic Driving Cylinders

The paper considers force sensor based on the hydraulic cylinders used to powered the arms of construction machines from dynamics point of view, to the aim to sense interaction between the tool of machine and operating environment, in particular between soil and excavator robot. The regression matrix method is used to identify static dynamic and frictional parameters of machine, which will be used to estimate the force necessary to move machine, while the difference between measured and estimated forces will be the expected result or interaction force. Moreover, the method shows as to consider machine dynamics using position an tilt sensors only. The force sensor can be used also as on-board weighting system.