No abstract

533The cutting tool trajectory of a hydraulic excavator during working with traditional machine results from experience and intuition of an operator. To allow the excavator for an automatic execution of planned trajectories, the machine should be provided with control system of fixtures motion. Such a digital control system for single bucket excavator, which has been built in the Kielce Branch of the Institute of Fundamental Technological Research of Polish Academy of Sciences, is presented in this paper.

The computer control system for the backhoe hydraulic excavator is presented and discussed in the paper. It can be used to help the operator during the shoving process to generate energetically advantageous trajectories obtained as automatic tool leading along the previously generated slip lines. The results of experiments, carried out for the loading type kinematics under the plane strain conditions and for the bucket with side walls, confirm the efficiency of such trajectories. Experimental results for K-lll backhoe excavator are also presented here. It is shown, that the automatic system enables the realization of tool trajectories with proper precision.