The Hydraulic excavator machines are heavy duty earth mover consisting of a boom, arm and bucket. It works on principle of hydraulic fluid with hydraulic cylinder and hydraulic motors. The Hydraulic excavator backhoe operation require coordinated movement of boom, arm and bucket to control the bucket tip position by following a desired trajectory and to use the excavator machines effectively in...

This paper reposts the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for...

The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying haptic control is proposed for the remote control of excavator-like dismantling equipment. As a haptic device syste...

By using the theory of artificial intelligence fault diagnosis of hydraulic excavator of several basic problems are discussed in this paper, the artificial intelligence neural network model is established for the fault diagnosis of hydraulic system; the combined application of fault diagnosis analysis (FTA) and artificial neural network is evaluated. In view of the hydraulic excavator failure s...

The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying tele-operated device is proposed for the remote control of excavator-like dismantling equipment. As a tele-operated...

This paper considers the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University Computerised and Intelligent Excavator (LUCIE). The excavator is being developed to autonomously dig trenches without human intervention. Here, a gain scheduling design, based on Proportional-Integral-Plus (PIP) control methods, is utilised to regula...

Staff and students at Lancaster University have, for the past five years, been involved in the development of an autonomous robot excavator LUCIE the Lancaster University Computerised Intelligent Excavator. An excavator provides a good opportunity for development, as it is basically a highly efficient and well developed four degree-of-freedom manipulator arm, but with the complete absence of au...

Annual use, utilization, productivity and fuel consumption of three purpose-built and three excavator-based harvesters and processors were monitored for one work year. All machines were owned and operated by private contractors and were representative of the Italian machine fleet. Despite challenging mountain terrain, annual use ranged from 675 to 1525 h per year, and production from 3200 to 27...

This paper reports on the recent advances made in developing an autonomous robot excavator. Previous work on a fifth-scale model was reported at earlier symposia, but the technology has now been transferred to a real excavator LUCIE Lancaster University Computerised Intelligent Excavator. The paper concentrates on the architecture of the software control which enables the machine to modify its ...

The control of a robotic excavator is difficult from the standpoint of the following problems: parameter variations in mechanical structures, various nonlinearities in hydraulic actuators and disturbance due to the contact with the ground. The more the size of robotic excavators increase, the more the length and mass of excavator’s links; the more the parameters of a robotic excavator vary. A T...