In the construction industry, skilled operators of hydraulic excavators have been decreasing, and decline in productivity at the site is concerned. Especially, operation skills of hydraulic excavators are important to obtain high productivity. In the case of skilled operator, smooth and superior motions are achieved by appropriate operations. However, it is difficult to achieve these motions for non-experts. In this paper, a control system which achieves smooth and highly workable operation even for a non-expert is newly proposed. The Center of Mass (CoM) velocity of attachment during digging operation is controlled by the proposed controller whose parameters are tuned by the Fictitious Reference Iterative Tuning (FRIT) method.
