“…Training can be performed safely by using a simulator and with lower operating cost than that incurred when using the actual machine. Various studies have dealt with training using simulators, and several training simulators have been developed for construction machinery (Kamezaki et al, 2008 ; Wang et al, 2011 ; Ni et al, 2013 ). Some studies have considered the dynamics of the hydraulic excavator in simulators (Vähä and Skibniewski, 1993 ; Patel and Prajapati, 2011 ; Vujic et al, 2017 ).…”