System of Digging Force Monitoring and Backhoe Tip Localization for Medium-Sized Hydraulic Excavator

In this paper system of measuring and registration of digging force or working reaction was described. It consists of three angle transducers mounted in joints (bucket-arm, arm-boom and boom-body), 2 sensors of digging force, electronic connections and computer based data processing system. The principles of system assembling and final mounting were described with some facts about measurement’s range and accuracy.