A kinematic controller is described that improves the ergonomics of excavator (backhoe) operation, thus increasing work rates and reducing operator fatigue At present, operators have direct control over hydraulic ram velocities, and must synchronize these to achieve the desired motion of the bucket; this requires considerable mental dexterity. Kinematic algorithms are described that give the operator control over bucket velocity in an ergonomically effective coordinate frame. In this way, the synchronization task is performed by the controller rather than by the operator. The results of a simulation study are reported and conclusions are drawn.
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