High-class excavators have magnetic position sensors on a bucket, arm, and boom in order to inform the position of the bucket to the operator. The sensor signal is influenced by the eddy current. Therefore, the relationship between the stroke speed and sensor signal must be informed in order to compensate the bucket position. This paper describes an accuracy improvement of the magnetic sensor s...

In this paper the problem of input-output decoupling in nonlinear singular systems is solved via the application of a particular nonlinear PD feedback control law. An invertible transformation is provided, which converts the closed loop singular system into an equivalent regular, to which a static state feedback law is applied. This transformation, hence, allows the theory that exists for the c...

The dynamic performances of head cutter for boom-type excavator were researched, and the corresponding dynamic equilibrium equations were derived. Based on the explicit dynamics analysis techniques of the Software ANSYS/LS-DYNA, transient dynamic analysis was carried out to simulate the cutting process of head cutter, and the main kinetic parameters were achieved. Finally, the cutting performan...

Simulation techniques to reduce the fuel consumption in hydraulic excavators are presented in three categories: first, a strongly non-linear dynamic simulation technique for a coupling system with a non-linear hydraulic system and a linkage system; second, a technique for evaluating fuel consumption in the engine when the engine powers the hydraulic pump in a digging operation performed by a hy...

This paper describes technologies we have developed to perform autonomous large-scale off-world excavation. A scale dragline excavator of size similar to that required for lunar excavation was made capable of autonomous control. Systems have been put in place to allow remote operation of the machine from anywhere in the world. Algorithms have been developed for complete autonomous digging and d...

Introduction . During the overhaul of pipeline to remove soil under pipe, a trench tool is currently used. The new technology excavation proposed by authors, which provides for use replaceable milling working equipment hydraulic excavator, makes it possible increase speed repair work. purpose article theoretical study process interaction between structural elements and developed soil. Methods m...