olsystem.Furthermore,thereisaboom,anarmandattheendabucketwhichisattachedviaaplanarkinematiclooptothearm.Boom,armandbucketcanberotatedbytheappropriatecylinders.Figureshowsthattherequiredpressuresinthecylindersdependontheposition.Forthe“stretched”situationthepressureintheboomcylinderishigherthanintheretractedposition.Notonlythepositionbutalsothemovementshavetobetakenintoaccount.Figureshowsasituationwherethearmhangsdown.Ifthecarriagedoesnotrotatethereisapullingforcerequiredinthecylinder.Whenrotating–excavatorscantypicallyrotatewithuptorevolutionsperminute–theforceinthearmcylinderchangesitssignandnowapushingforceisneeded.Thischangeisverysignificantbecausenowthe“active”chamberofthecylinderswitchesandthatmustbetakenintoaccountbythecontrolsystem.Bothfiguresdemonstratethatasimulationmodelmusttakeintoaccountth代码水平看待,并且可以由从易得文献得来大约个参数来证明。