Path tracking of bucket edge using a hydraulic excavator with a built-in angular velocity controller

Abstract

This study presents the development and evaluation of a hydraulic excavator equipped with a built-in angular velocity controller to improve the precision of excavation operations. By integrating a velocity control system that takes into account the characteristics of the hydraulic system, the proposed approach enhances the path-tracking accuracy of the bucket edge during digging tasks. Experimental results demonstrate that the angular velocity controller significantly reduces path errors compared to conventional lever-based control systems, achieving improvement in path accuracy. This advancement facilitates the automation of hydraulic excavators, and provides a reliable foundation for further developments in construction robotics.