Improved Model of Soil for Environment-Robot Excavator Interaction

Planning of automated digging processes meets difficulties, because is difficult to describe operating environment (soil) - digging robot interaction, here a double-wedge model is proposed as improvement of traditional wedge model generally used. The double-wedge model doesn't introduce sham variables, preserves real geometric dimensions, puts in evidence the inf1uence of control parameters, allows to show the possibility to predict soil cutting effort by both numerical way or measuring and processing the soil cutting effort itself. The prediction can be used to control robot by force and/or planning on line tool trajectories, for example valuing the presence of buried objects.