Excavator Dynamics and Effect of Soil on Digging

Automation of excavation work calls for a robotic system able to perform the planned digging work and responsive to interaction forces experienced during excavation. The development of automated excavation control method requires a dynamic model to describe the evolution of the excavator motion with time. The joint torques of the boom mechanism are generated by hydraulic rams which also affect the torques at other joints. A Newton-Euler formulation is applied to derive a dynamic model for an excavator in this paper. Secondly, for determining the soil resistance, the effect of soil on digging is described. Combing these equations make it possible to design a control method for an excavator.