Pruning robot
201878663
Attitude controller design for the aerial trees pruning robot based on nonsingular fast terminal sliding mode
In this article, the attitude control problem of a new designed aerial trees pruning robot is addressed. During the tree cutting process, the aerial trees pruning robot will be disturbed by unknown external disturbances. At the same time, the model uncertainties will also affect the attitude controller. To overcome the above problems, an attitude controller is designed with a nonsingular fast terminal sliding mode method. First, the extended state observer is designed to estimate the modeling uncertainties and unknown disturbances. Then, the extended state observer based nonsingular fast terminal sliding mode controller can make the tracking error of the attitude converge to zero in a finite time. Finally, a control allocation matrix switching strategy is proposed to solve the problem of the change of the aerial robot model in the cutting process. The final simulation and experimental results show that the extended state observer based nonsingular fast terminal sliding mode controller designed in this article has good attitude control performance and can effectively overcome the modeling uncertainties and unknown disturbances. The attitude controller and control allocation matrix switching strategy ensure that the attitude angles of the aerial robot can quickly track the reference signals.
International Journal of Advanced Robotic Systems
Qiuyan Zhang Zhong Yang Shao Hui Wang Yuhong Jiang Changliang Xu Hao Xu Xiangrong Xu
86743102
Optimization of Chainsaw Setting Angle in Pruning Robot
IOP Conference Series: Materials Science and Engineering
Haruhisa Kawasaki Mouri Tetuya Toshitake Yanagawa Haruo Nagayama
77387449
The Design and Control of a Double saw Cutter on the Aerial Trees pruning Robot
In this paper, a double saws cutter on the aerial trees pruning robot is designed for the task of cleaning up tree barriers along high voltage power lines. And the structure and control method of the cutter are presented in detail. The design features four rotors for lifting propellers assembled on the robot body, two thrust ducted propellers for boost, as well as a robot arm on which the cutter is equipped at the end. And the robot is suitable for implementing fast cleaning in the way of "shaved head" from the side to the inside branches. Also, the kinematics and dynamics of the novel model are presented in this paper, followed by a full state control method. Simulation and field test results prove the validity of the modeling and control method of the cutting operation and robot trajectories.
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Changliang Xu Zhong Yang Yuhong Jiang Qiuyan Zhang Hao Xu Xiangrong Xu
69920078
Kinematics Modelling and Co simulation Research of a Novel Electrical Optical Cable Pruning Robot Using V REP and MATLAB
Chao Li Y F Yang Songyi Dian
3661892
Tree pruning robot tilting control using fuzzy logic
This paper presents an intelligent control strategy for a wheel type tree pruning robot tilting control during climbing procedure. There are two types of tilting scenarios needed to be considered, initial setting tilt and dynamic tilt. To compensate the initial installation tilt, a tiling fuzzy controller is specifically designed to adjust the robot platform to the horizontal position before climbing up. For robot dynamic tilt, which is mainly caused by wheel slippage during the climbing, a slippage fuzzy control system is developed through the control of stepper and DC motor via the IMU. The fuzzy controllers were implemented in MATLAB Simulink and simulated in SimMechanics. The simulations verify the feasibility of the robot tilting control algorithm and the effectiveness of the fuzzy controllers.
2017 Eleventh International Conference on Sensing Technology (ICST)
Pengfei Gui Liqiong Tang Subhas Chandra Mukhopadhyay
106676354
Fast growing forest pruning robot structure design and climbing control
Abstract According to the requirement of fast growing forest pruning operation, the pruning robot was developed. The structure and control system of pruning robot were described, the work flow of pruning robot was expounded. The type and structure of the driving motor and the compression spring were decided with force balance analysis. The tilt problem of pruning robot was resolved by ADAMS and Matlab co simulation, and the control scheme of climbing mechanism was determined. The experiment results of the prototype indicate that pruning robot can climb tree trunk smoothly at a speed of 20 mm/s and cross the raised trunk. The pruning saw which is driven by the adjustable speed motor can cut the branches of 30 mm. And the residual amount of branches is less than 5 mm. Pruning robot can meet the practical requirements of the fast growing forest pruning work.
Guangwei Fu Xue-Mei Liu Yan-Fu Chen Jin Yuan
16340635
A novel design of anti falling mechanism for tree pruning robot
This paper presents a mechanism of a novel tree pruning robot that is designed to climb up a tree. The unique feature of the proposed design is the passive and active anti falling mechanism. The passive anti falling mechanism relies on the frictional forces to overcome the robot gravity force while the active anti falling function uses the power provided by two steppers that is able to adjust the normal forces between the tire surfaces of the wheels and the tree trunk. The design of the pruning robot is modelled in SolidWorks and simulated using Simmechanics. The outcome of the simulation matches with the analysis result.
2015 IEEE 10th Conference on Industrial Electronics and Applications (ICIEA)
Pengfei Gui Liqiong Tang Subhas Chandra Mukhopadhyay
156054050
Design and Research on End Effector of a Pruning Robot
Due to the complicated working environment in the field, the problem of automatic pruning of fruit trees and the utilization of tree debris have not been well addressed. Therefore, this paper analyzes the agronomic characteristics, working environment, transportation, treatment of residual branches and weight of the end effector of the pruner to design a multifunctional end effector with the function of pruning and smashing. This end effector cuts and grinds tree branches through six steps, namely: preparation, entering, cutting, transportation and smashing. During the working process, the end effector is powered by four low power motors to cut with its blade saw. Experiment shows that this end effector can perform the task of cutting and smashing branches within 1 cm.
Biao Huang M Shao Wenjun Chen
15923684
A comparison of sampling based path planners for a grape vine pruning robot arm
We compare eight commonly used path planning algorithms on a robot arm for pruning grape vines. Pruning grape vines involves planning a path that reaches into cluttered regions and through narrow passages. These problems are known to be difficult for sampling based planners. We show that the choice of milestone expansion method has more of an effect on path planner performance than search directionality or laziness. We found the Rapidly Expanding Random Trees algorithm and its variations had the best overall performance.
2015 6th International Conference on Automation, Robotics and Applications (ICARA)
Scott Paulin Tom Botterill Jessica Lin Xiaoqi Chen Richard D Green
149599171
Branch pruning robot for overhead high voltage transmission line live working
The invention provides a branch pruning robot for overhead high voltage transmission line live working. The branch pruning robot comprises a robot working platform, a spindle drive box, a gravity center adjusting device, an operating arm swing joint and a tail end tool, wherein the robot working platform serves as a mobile carrier of the robot and is hung on a wire through a pair of antisymmetric mechanical arms; a longitudinal spindle is arranged in the spindle drive box and can be rotated by 360 degrees; the operating arm swing joint of the robot is fixedly connected with the spindle and driven by a motor to rotate along with the spindle; the operating arm swing joint can drive an operating arm to swing leftwards or rightwards by 30 degrees, and cone shaped body space with a 60 degree solid angle below the robot can be completely covered in the robot working area; the tail end tool is carried at the tail end of the operating arm and provided with an independent power supply and control system. The branch pruning robot can replace manual operation, is safe, reliable and easy to operate, and improves branch pruning efficiency, and the functions of the robot are expanded.