Contour control for leveling work with robotic excavator

Chang Seop Lee, Jangho Bae, Daehie Hong

Research output: Contribution to journalArticlepeer-review

33 Citations (Scopus)


This paper presents electro-hydraulic servo systems of a robotic excavator with a contour control algorithm. It is very important to precisely move the bucket tip of the excavator to a desired trajectory. There have been many studies to accurately control the bucket dealing with the non-linearity in the hydraulic boom, arm, and bucket cylinders. Beginning with these conventional methods, a new method that focuses on keeping contours rather than just following position commands is presented. In the leveling work, for example, it is more important to maintain linear contour than chasing a position goal. The contour control shares the control effort to make the bucket stay on the path, while slightly sacrificing the position tracking accuracy. After the kinematics of the excavator system were analyzed, the contour control algorithm was developed. The algorithm was applied to leveling work with a real excavator. The experiments showed better performance than using position control alone.

Original languageEnglish
Pages (from-to)2055-2060
Number of pages6
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number12
Publication statusPublished - 2013 Dec

Bibliographical note

Funding Information:
This work was supported by the Human Resources Program in Energy Technology of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea. (No. 20124010203250) and Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (MSIP) (2007-0056094).


  • Contour control
  • Intelligent excavator
  • Leveling work
  • Robotic excavator

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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