Robotic explosive charging in mining and construction applications
Bonchis, Adrian, Duff, Elliot, Roberts, Jonathan M., & Bosse, Mike (2014) Robotic explosive charging in mining and construction applications. IEEE Transactions on Automation Science and Engineering, 11(1), pp. 245-250.
Describes the development and testing of a robotic system for charging blast holes in underground mining. The automation system supports four main tactical functions: detection of blast holes; teleoperated arm pose control; automatic arm pose control; and human-in-the-loop visual servoing. We present the system architecture, and analyse the major components, Hole detection is crucial for automating the process, and we discuss theoretical and practical aspects in detail. The sensors used are laser range finders and cameras installed in the end effector. For automatic insertion, we consider image processing techniques to support visual servoing the tool to the hole. We also discuss issues surrounding the control of heavy-duty mining manipulators, in particular, friction, stiction, and actuator saturation.
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|Item Type:||Journal Article|
|Keywords:||industrial manipulators, object detection , position control, robot vision, telerobotics, visual servoing|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > RESOURCES ENGINEERING AND EXTRACTIVE METALLURGY (091400) > Mining Engineering (091405)
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Deposited On:||29 Aug 2014 04:54|
|Last Modified:||12 Sep 2014 04:08|
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