Analysis of mathematical model of an excavator manipulator motion

Abstract. Single-bucket excavators improvement is closely associated with development and introduction of their workflow automatic control systems and with a robotic excavator creation. Thereat, at synthesis of an excavator control system, the robotics approach is widely developed, according to which, the work equipment is considered as spatial manipulator with hydraulic actu ator. The control system of a robotic excavator has to provide minimum of time of a workflow execution, carry out digging with maximum accuracy, as it leads to the productivity increase, and to minimize expenditure of energy for working cycle implementation at this. For that, it is necessary able to calculate the trajectory of the excavator manipulator optimum in terms of energy. As far as the values of external forces, which affect the excavator boom, stick and bucket, depend significantly on their attitude position, the research of dynamic properties of the excavator manipulator at its movement is necessary. Cond ucting such research is the purpose of this work.