A remote manipulator for forestry operations

Author

Goldenberg, A.A. ; Wiercienski, J. ; Kuzan, P. ; Szymczyk, C. ; Fenton, R.G. ; Shaver, B.

fYear

1992

fDate

12-14 May 1992

Firstpage

2792

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220010

Filename

220010