Modeling of a front end loader for control design

Front end loader are commonly used in agriculture machinery. A special feature of the loader is the parallel positioning of the bucket while lifting the boom. Modeling of the hydraulic, kinetic and kinematic behavior of the front end loader is helpful for the design of a controller for parallel positioning. In this paper we describe the mathematical background of this model. The model considers the four-bar linkage of the bucket actuation. To validate the model a graphical output and a comparison of simulation and real measurement results is presented.