Abstract
An excavator is a typical hydraulic heavy-duty construction machine used in hazardous, worst working conditions, severe weather, and dirty areas where it is very difficult to operate machine by human operator. The excavator operations require coordinated movement of boom, arm and bucket in order to control the bucket tip position to follow a desired trajectory. This can be achieved through the implementation of automatic control system for excavation task and it required understanding of kinematics of backhoe excavator. This paper focuses on the mathematical kinematic modelling of the backhoe excavator attachment to understand relations between the position and orientation of the bucket and spatial positions of joint-links, helpful for improving the operating performance of the backhoe excavation machine. This paper covers the inverse kinematics, differential motions, inverse Jacobian, and static model of backhoe excavator. The kinematic model developed for autonomous excavation of light duty construction work can be applied for heavy duty or all types of backhoe excavators.
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