Robotic analyses and simulation of automatic control of excavator finish trenching

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.