A Virtual Excavator for Controller Development and Evaluation

In order to facilitate the testing and evaluation of control strategies and operator environments designed for heavy duty hydraulic machines, an excavator simulator has been developed and is described in this paper. The simulator comprises an impedance model of the excavator arm, a model for the bucket-ground interaction forces, a graphical environment and a haptic interface. This paper describes the simulator components and their integration.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Simon P. DiMaio, S. E. Salcudean, Claude Reboulet, S. Tafazoli, K. Hashtrudi-Zaad
• Keywords: Duty Hydraulic Machines, Excavator Arm, Excavator Simulator, ICRA 1998, Robotics