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Mathematical Problems in Engineering
Volume 2017 (2017), Article ID 7139858, 10 pages
Research Article

Research on Trajectory Planning and Autodig of Hydraulic Excavator

The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China

Correspondence should be addressed to Bin Zhang

Received 6 December 2016; Revised 22 March 2017; Accepted 3 April 2017; Published 4 May 2017

Academic Editor: Alessandro Gasparetto

Copyright © 2017 Bin Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


As the advances in computer control technology keep emerging, robotic hydraulic excavator becomes imperative. It can improve excavation accuracy and greatly reduce the operator’s labor intensity. The 12-ton backhoe bucket excavator has been utilized in this research work where this type of excavator is commonly used in engineering work. The kinematics model of operation device (boom, arm, bucket, and swing) in excavator is established in both Denavit-Hartenberg coordinates for easy programming and geometric space for avoiding blind spot. The control approach is based on trajectory tracing method with displacements and velocities feedbacks. The trajectory planning and autodig program is written by Visual C++. By setting the bucket teeth’s trajectory, the program can automatically plan the velocity and acceleration of each hydraulic cylinder and motor. The results are displayed through a 3D entity simulation environment which can present real-time movements of excavator kinematics. Object-Oriented Graphics Rendering Engine and skeletal animation are used to give accurate parametric control and feedback. The simulation result shows that a stable linear autodig can be achieved. The errors between trajectory planning command and simulation model are analyzed.