A concept of digital control system to assist the operator of hydraulic excavators

Abstract A concept of digital control system to assist the operators of hydraulic excavators is presented and discussed. Then, control system based on described ideas was mounted on a special numerically controlled stand, equipped with D/A and A/D converters, where small hydraulic backhoe excavator K-111 fixtures were used. Experimental results shows that it fulfils all described requirements and can be used as the machine operator assist. It enables for precision tool guidance, automatic repetition of realized movements, realization of specific tool trajectories (including energetically optimal paths) and automatic improvement or optimization of realized paths. Tool trajectories can also be prescribed using the setting model, making excavator the machine of teleoperator class. Presented system can be used as a basis for real machine control system.