Automation of slewing motions for forestry cranes
2015 (English)In: ICCAS 2015 Proceedings, 2015, 796-801 p.Conference paper (Refereed)
The modern timber harvesting industry would be ineffective without heavy duty advanced machinery used forlogging. However, with benefits of mechanization comes the operation complexity. Introducing automation is expectedto reduce the mental and physical load on the operator and improve the machine use efficiency. Nonetheless, with currenttechnology fully autonomous timber harvesting is impossible. In this paper a semi-automation scenario is presented usingthe base joint actuator of a forestry forwarder crane taking into consideration the need to attenuate unwanted oscillationsof its hanging grapple. We address the necessary motion planning and motion stabilization tasks. To reduce oscillationsalong a nominal trajectory, we design smooth reference profiles based on experiments. Meanwhile, a practical structure fora feedback controller is proposed and tested. In this process, actuator nonlinearities are dealt with feasible identificationand compensation techniques.
Place, publisher, year, edition, pages
2015. 796-801 p.
automation, forestry cranes, input nonlinearity, trajectory design, identification
Engineering and Technology
Research subject Automatic Control
IdentifiersURN: urn:nbn:se:umu:diva-113791OAI: oai:DiVA.org:umu-113791DiVA: diva2:890164
15th International Conference on Control, Automation and Systems, ICCAS 2015, Oct. 13–16, 2015, in BEXCO, Busan, Korea.