A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

Table 1

Example of rule script for truck loading [6].

	Situation	Command
Joint 1: swing	() When digging finishes, wait
	() If  , swing to truck
	() If  , swing to dig
	() If  , stop and execute dig	N/A
Joint 2: boom	() When digging finishes, raise
	() If  , lower to dig
Joint 3: stick	() When digging finishes, wait
	() If  , move to spill point
	() If  , move to dump point
	() If  , move to dig
Joint 4: bucket	() When digging finishes, curl
	() If   and  , open
	() If  , move to dig