Cutting and Impedance Model of Soil-Excavator Interaction

The present work considers a double wedge soil cutting model, suitable to describe the soil-tool interaction in automated digging processes. This one or a similar model will be the base to reach a set of equations by which to fit online typical soil and tool parameters, instead to fit these parameters by time consuming autoregressive methods. The final aim is to reach a predictor of soil-tool interaction to use in the trajectory control of automated digging machine.