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Automation of mobile construction and agricultural equipment has gained wide acceptance based on increases in productivity, safety, and precision; while also helping upskill operators. On construction equipment, after-market automation of earthmoving crawler dozers and graders has driven a conversion of machines to electro-hydraulic (EH) implement control and integration into digital worksites. Unlike the aforementioned machines, conversion of the excavator into a semi or fully autonomous machine presents significant challenges due to kinematics, variable loads, non-linear multi-function of implements, safety, and robustness. The present work demonstrates the retrofit of a pilot-operated 21ton excavator and development of automated controls to address these challenges. The operator pilot joysticks and existing hydraulic system were retained, while adding capability for autonomous functionality with integrated hardware, controls, and kinematic solvers within a production viable environment. Autonomous features for path planning, multi-function actuator velocity control, EH controls, and safety were developed to prove the value of precise and low latency control hardware for EH excavator operation.

Autonomous control of hydraulic mobile applications – a 21-ton excavator case study