Model-Based Control of Automatic Excavator Using Kinematic Models of Operation Part

Automatic excavators, which do not require direct operator intervention, have great advantages in terms of operator convenience and work efficiency, and are receiving a lot of attention. In order to improve the automatic work performance of an excavator, precise motion control of the upper operation part of the automatic excavator is essential. To do this, a model-based control algorithm for an automatic excavator, which is accompanied by a kinematic modeling process of the operation part, is newly designed in this paper. Based on sophisticated simulation, the characteristics of the proposed control algorithm are evaluated by comparing it with the existing proportional-integral-derivative (PID) controller.