Increasing the level of automation in the forestry logging process with crane trajectory planning and control
2014 (English)In: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967, Vol. 31, no 3, 343-363 p.Article in journal (Refereed) Published
Working with forestry machines requires great amount of training to be sufficiently skilledto operate forestry cranes. In view of this, introducing automated motions, as those seenin robotic arms, is ambitioned by this industry for shortening the amount of training timeand make the work of the operator easier. Motivated by this fact, we have developedtwo experimental platforms for testing control systems and motion planning algorithms inreal-time. They correspond to a laboratory setup and a commercial version of a hydraulicmanipulator used in forwarder machines. The aim of this article is to present the results ofthis development by providing an overview of our trajectory planning algorithm and motioncontrol method, with a subsequent view of the experimental results. For motion control,we design feedback controllers that are able to track reference trajectories based on sensormeasurements. Likewise, we provide arguments to design controllers in open-loop for thecase of machines lacking of sensing devices. Relying on the tracking efficiency of thesecontrollers, we design time efficient reference trajectories of motions that correspond tologging tasks. To demonstrate performance, we provide an overview of an extensive testingdone on these machines.
Place, publisher, year, edition, pages
Wiley-Blackwell, 2014. Vol. 31, no 3, 343-363 p.
tree harvesting systems; robotic manipulators; excavator; industrialization
Robotics Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-86214DOI: 10.1002/rob.21496ISI: 000333934200001OAI: oai:DiVA.org:umu-86214DiVA: diva2:710077