This paper discusses automation of a small-scale hydraulic shovel and its trajectory control. To move an end-effector (grinder) along a desired trajectory, the controller uses PID control and internal pressure of hydraulic cylinder. To apply PID control to the present hydraulic system, the system model is derived physically and its system parameters are obtained by actual measurement. To show the effectiveness of the PID controller and propriety of system model, the computer simulations and experiments are performed. These results in simulations and experiments indicate that the PID trajectory control of robotic deburring by hydraulic shovel is effective.

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