Machine for performing excavations, in particular for drilling, and method associated to such machine

A machine for making excavations for drilling, comprising a tracked undercarriage and a base machine supported by the tracked undercarriage;

• the tracked undercarriage comprising:
• a frame comprising a central body, a front transverse assembly and a rear transverse assembly connected to the central body and protruding from opposite sides of the central body,
• a pair of lateral tracks, each one of the tracks being connected to an end of the front transverse assembly on one side and to an end of the rear transverse assembly on the other side;
• the base machine comprising excavation equipment adapted to take different working positions or configurations;
• at least four load cells including:
• a front load cell mounted at a point of connection between a lateral track and the front transverse assembly,
• another front load cell mounted at a point of connection between the other lateral track and the front transverse assembly,
• a rear load cell mounted at a point of connection between a lateral track and the rear transverse assembly,
• another rear load cell mounted at a point of connection between the other lateral track and the rear transverse assembly;
• wherein each one of the load cells is configured for detecting force data indicative of a reaction force exerted between the associated lateral track and the respective transverse assembly;
• and
• wherein the machine further comprises a control system configured for computing at least a barycentre planar position of the machine situated substantially at a level of a reference plane, the barycentre planar position being computed as a function of the force data.