Reseach of Driving Control System of a Felling and Bunching Robot

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.