Construction of the Index to Evaluate the Operating Skill Based on the Motion of CoM for a Hydraulic Excavator

Abstract

Operations of the hydraulic excavator are difficult, and the productivity depends on operating skills. In order to improve the productivity of non-expert, it is necessary to quantitatively evaluate the operating skills difference between expert and non-expert. However, since a hydraulic excavator has the multi-link structure, the evaluation is not easy. In this paper, the evaluation system of skills which is expressed as the combined CoM (Center of Mass) of attachment is newly proposed. The system parameters are identified based on the motion of CoM at the boom up deceleration. Skills are estimated from these parameters, and the evaluation index is constructed.