A review on modeling, identification and servo control of robotic excavator

Abstract

Robotic excavator is a hydraulic actuated 4 DOF manipulator mounted on a mobile chassis which implements automatic excavations. This article reviews modeling, identification, and low level control of the robotic excavator. First, modeling of the nonlinear hydraulic dynamics, coupling manipulator dynamics, and soil-tool interaction dynamics are reviewed. Then, methods for identification of the established models are discussed. Finally, robust position control and compliance control of the robotic excavator are investigated.

Keywords: robotic excavator; modeling and identification; robust position control; compliance control