Dynamic Model of Excavator

Automation of excavation work calls for a robotic system able to perform the planned digging work that is responsive to interaction forces experienced during excavation. The development of automated excavation control methods requires a dynamic model to describe the evolution of the excavator motion with time. The joint torques of the boom mechanism are generated by hydraulic rams that also affect the torques at other joints. Analyzing each link in succession as a free body and applying the Newton‐Euler formulation in the local coordinate frame, a dynamic model for an excavator can be derived in a straightforward manner. The model presented in this paper is intended for further development of an automated excavation control system for terrestrial, lunar, and planetary excavation.