Reseach of Driving Control System of a Felling and Bunching Robot

Author

Lu Huaimin ; Guo Xiuli ; Guo Xiurong ; Zhao Zhiqiang

Author_Institution

Coll. of Mech. & Electr. Eng., Northeast Forestry Univ., Harbin, China

Volume

1

fYear

2009

fDate

11-12 April 2009

Firstpage

841

Lastpage

844

Abstract

In order to improve the efficiency of felling trees and ensure the safety of felling worker, a robot which can fell and bunch is developed. This robot adopts SDWY-60 caterpillar excavator as a walking mechanism and equips a manipulator with 6 degrees of freedom and a RBF neural network controller, which can be operated by hand or automation. The main technical parameters of the robot are as follows: the operating range is 4~10.5 m the breast diameter of the standing tree is 16~30 cm. The practical test shows that the RBF neural network controller based on Kalman filtering researched in this paper can control the manipulator to fell and bunch accurately. It not only can work safely and reliably, but also can greatly improve the work efficiency, which is about 8~10 times than that of manual felling and bunching.

Keywords

Kalman filters; adaptive control; excavators; forestry; fuzzy control; intelligent robots; manipulators; mobile robots; neurocontrollers; occupational safety; radial basis function networks; self-adjusting systems; vegetation; 6-dof manipulator; Kalman filtering; RBF neural network controller; SDWY-60 caterpillar excavator; bunching robot; felling robot; felling tree; felling worker safety; forestry; fuzzy self-adaptive controller; intelligent robot driving control system; walking mechanism; work efficiency improvement; Automatic control; Breast; Control systems; Legged locomotion; Manipulators; Neural networks; Robotics and automation; Robots; Safety; Testing; RBF Neural Network controller; felling and bunching; fuzzy self-adaptive Kalman filtering; robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on

Conference_Location

Zhangjiajie, Hunan

Print_ISBN

978-0-7695-3583-8

Type

conf

DOI

10.1109/ICMTMA.2009.207

Filename

5203102