Method for improved controlling an end-effector of an excavator

A method for controlling movement of an end-effector of an excavator, wherein the end-effector is attached to the excavator via an articulated component comprising multiple links, wherein the method comprises:

• providing motion commands for moving the end-effector,
• using a motion-control algorithm to translate the motion commands to control commands for moving the multiple links with respect to each other so that the end-effector moves with a target trajectory associated with the motion commands, in particular by taking into account hydraulic response to resistance against the articulated component, more particularly by taking into account spool shift in a hydraulic valve,
• accessing movement sensor data configured to provide monitoring of a movement of the articulated component and the end-effector,
• accessing impact sensor data comprising hydraulic pressure sensing data, which provide information on pressure applied to a hydraulic unit being configured to provide movement of the articulated component and/or the end-effector, and/or force sensor data, which provide a force and/or moment measured at one of the multiple links and/or at the end-effector,
• using the movement sensor data and the impact sensor data to determine an estimated value of an impact parameter for the articulated component, wherein the impact parameter provides information on an end-effector force exerted by a contact-component of the end-effector specifically foreseen for interaction with material to be moved by the end-effector and/or an information on a load exerted on one of the multiple links, and
• providing adapted control commands by using a movement model for the articulated component configured to provide coordination of control commands of the multiple links as a function of the estimated value of the impact parameter.