Automated Excavation Process Analysis for Given Trajectory and Soil Parameters

Since excavation process is very complex, it can be optimized in many ways, using different factors. In this paper excavation process optimization for backhoe excavator is presented. Results that are presented covers two scopes. First, relation between excavating force and tool angle of attack. Second is optimization of the bucket path. Reassuming, optimal trajectory, taking under consideration filling the bucket and minimal excavating force has been found.