Title: Robotic analyses and simulation of automatic control of excavator finish trenching

Authors: Narong Anankawanich, John K. Schueller

Addresses: University of Florida, Mechanical Engineering, Gainesville, FL 32611-6300, USA. ' University of Florida, Mechanical Engineering, Gainesville, FL 32611-6300, USA

Abstract: Denavit-Hartenberg notations were used to study the forward and reverse kinematics of an excavator performing the fine finishing pass of a trenching operation. An approximated path generation technique was developed. A hydraulic control system with proportional values was modelled and simulated with proportional and proportional-integral control using the EASY 5/W simulation language. The simulation results illustrate the approximate performance which could be expected during flat-bottom trenching with light loading.

Keywords: automatic control; excavators; excavator kinematics; hydraulics; hydraulic control; simulation; trenching operations.

DOI: 10.1504/IJHVS.1995.054611

International Journal of Heavy Vehicle Systems, 1995 Vol.2 No.3/4, pp.238 - 255

Available online: 18 Jun 2013 *

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