58 A Real-Time Simulation System for Excavator Controller
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In order to supply a reliable and low-cost method for testing excavator's controllers and evaluating the performance of strategies, an excavator real-time simulation system has been developed. The hardware-in-the-loop system, including dynamic model of the arms, dynamic model of the main hydraulic system and an 3D real-time display subsystem, is presented in this paper. The simulation results are also described at the end of the paper.