MATHEMATICAL MODEL OF BACKHOE SHOVEL MANIPULATOR
This paper deals with the problem of hydraulic excavator automation. Considering the arm-handle-bucket system as links of a robotic industrial manipulator and using the Denavit-Hartenberg procedure, the kinematics equations of the excavator are obtained. Based on the Newton-Euler equations, a dynamic model for excavator manipulator links in the form suitable for real-time control tasks solution is obtained.