Determination of Excavator Tool Position using Absolute Sensors

Automation techniques for controlled job execution in the excavation process are extremely useful for excavator tool trajectory generation, digging process simulation, and new tools or machines' developmental testing. Proper choice of sensors for excavator tool position determination is crucial for the successful implementation of automated systems. We used an industrial robotic arm to simulate excavator operation and determine the characteristics of available sensors. Four inertial measurement units (IMU) sensors mounted on the industrial robotic arm are used to estimate the joints positions and compare results with data from internal robot sensors. The obtained findings suggest that the chosen sensors are appropriate for the estimation of joint angle. It was found that the X axis error should be less than 2.27 degrees. If the Z axis is inevitable for some control task, additional sensors can be used to establish reference points for yaw angle calculation.