System identification of the pressure transducer and the force sensor on intelligent excavator

In the case of remote control excavator, it needs to deliver the force from the bucket to the controller to control effectively. And unmanned robotic excavator also needs this force element to control effectively and safely in current working circumstances. For these reasons many research attaches the force sensor to the excavator in various ways. However force sensor is very expensive and it is very difficult to equip the force sonsor on the end of bucket. In this paper, we study to know the force without expensive force sensor using the pressure transducer on the each cylinder with method called system identification.