Control of Virtual Excavating System Base on Real-time Simulation

Excavator is used in general versatile construction operations such as digging, carrying loads, grounding and dumping loads. However, it is not safe for the worker to operate the excavator on the risk environments. Consequently, excavator's unmanned research focused on a few universities and companies are being studied. One of the most important things for researching automation of excavator is control of excavator. To find a feasible way to control excavator, firstly the Full Kinematic and dynamic model of the excavator's manipulator which three degrees of freedom were studied. The inverse kinematic equations are used to determine the joint angles and the actuator lengths corresponding to a specific position and orientation of the bucket, given in the base coordinate system. This paper will present a PID-computed torque control and design of a virtual excavating system base on real-time simulation. Some simulation results are given.