Digital Control System to Generate Energetically Advantageous Cutting Tool Trajectories for Hydraulic Excavators

The computer control system for the backhoe hydraulic excavator is presented and discussed in the paper. It can be used to help the operator during the shoving process to generate energetically advantageous trajectories obtained as automatic tool leading along the previously generated slip lines. The results of experiments, carried out for the loading type kinematics under the plane strain conditions and for the bucket with side walls, confirm the efficiency of such trajectories. Experimental results for K-lll backhoe excavator are also presented here. It is shown, that the automatic system enables the realization of tool trajectories with proper precision.