Abstract
In this paper, we propose a trajectory tracking method for hydraulic excavators considering constraint of attitude angle of the bucket by model predictive control. The digging operation becomes possible by tracking the reference trajectory keeping the constraint for the attitude angle of the bucket. Target input is decided by the inverse kinematics for the finished shape. Then, we perform the trajectory tracking control on the bucket tip by MPC. The efficacy of the proposed method is shown through comparing with a servo mechanism in simulations.
