Title :
A remote manipulator for forestry operations
Author :
Goldenberg, A.A. ; Wiercienski, J. ; Kuzan, P. ; Szymczyk, C. ; Fenton, R.G. ; Shaver, B.
Abstract :
A remote manipulator was developed for forestry operations to relocate operators away from hazardous operations. The operations of tree trimming are performed in the vicinity of live electrical distribution lines, generating a hazard for the operator. The remote manipulator has two major subsystems: a three degree-of-freedom (DOF) aerial device acting as the main lifting arm, and a six DOF manipulator mounted at the end of the aerial device. Each arm was rate controlled with the reference rate provided by the displacement of a corresponding hand controller, which was kinematically equivalent to the manipulator. The mechanical design, the control system of the remote manipulator, and the results of field tests are described
Keywords :
forestry; manipulators; DOF; aerial device; control system; field tests; forestry operations; hand controller; hazardous operations; lifting arm; mechanical design; reference rate; remote manipulator; tree trimming; Automatic control; Control systems; Displacement control; Forestry; Humans; Manipulators; Mechanical engineering; Robotics and automation; Space technology; System testing;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220010
