Kinematics of mini hydraulic backhoe excavator - part II

Abstract

Backhoe excavators are construction machines can be use for hazardous and even poisonous environmental conditions, worst working conditions, severe weather, and dirty areas where it is very difficult to operate machine by human operator. The excavation task can be performing successfully and effectively for above mentioned working conditions by semiautonomous or fully computer controlled of excavation machines. For this it is important to understand the kinematics of this machine. For autonomous excavation operation of a backhoe, it is desirable to place the bucket to a specified location. The bucket configuration can be determined by the direct kinematic equations for given lengths of the piston rods in the actuators or the joint angles. This paper emphasize on the explicit expressions for the direct (forward) kinematics of backhoe excavator. It covers systematic procedure to assign Cartesian coordinate frames for the links (joints) of an excavator. The developed forward kinematic model is intended for development of an automated excavation control system for light duty construction work and can be applied for heavy duty or all types of backhoe excavators.

Coordinate-based control for a materials handling equipment utilizing real-time simulation

“…The velocity of each actuator piston rod in terms of the velocity of the joint angle is calculated as Eq. 26-28 [23]:…”