Study on Modeling and Control of Excavator

An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, carrying loads, grounding and dumping loads. However, operating excavators in the hazard environment such as earthquake, nuclear decomposition etc is not suitable for human to operate on site. Therefore, automation in excavator has been investigated to protect the operators from the harmful environments. To find a feasible way to control excavator, firstly the Full Kinematic and dynamic model of the excavator’s manipulator which three degrees of freedom were studied. The inverse kinematic equations are used to determine the joint angles and the actuator lengths corresponding to a specific position and orientation of the bucket, given in the base coordinate system. To control the excavator’s manipulator, the computed torque control are using and some simulation results are given.