Towards High-fidelity simulator of Construction Machine based on Accurate Machine-soil Interaction Mechanics

-RFT-based bucket dynamics modeling and experimental validation-

Abstract

The main scope of this research is to establish a high-fidelity simulator for construction Machine, and particualr, this paper describes an interaction model that accurately estimates resistive force generated at a bucket while excavating. The model developed in this paper basically exploits Resistive Force Theory but also improves it such that the model well reproduces practical excavating characteristics. The proposed model is experimentally validated in different types of excavation motion using a bucket experimental apparatus.