Robotic analyses and simulation of automatic control of excavator finish trenching
by Narong Anankawanich, John K. Schueller
International Journal of Heavy Vehicle Systems (IJHVS), Vol. 2, No. 3/4, 1995

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.

Online publication date: Tue, 18-Jun-2013

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