Development of a 3500-tonne field robot

Roberts, Jonathan M., Corke, Peter, & Winstanley, Graeme J. (1999) Development of a 3500-tonne field robot. The International Journal of Robotics Research, 18(7), pp. 739-752.

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Abstract

The mining industry is highly suitable for the application of robotics and automation technology, since the work is arduous, dangerous, and often repetitive. This paper presents a broad overview of the issues involved in the development of a physically large and complex field robotic system—a 3500-tonne mining machine (dragline). Draglines are “walking cranes” used in open-pit coal mining to remove the material covering a coal seam. The critical issues of robust load position sensing, modeling of the dynamics of the electrical drive system and the swinging load, control strategies, the operator interface, and automation system architecture are addressed. An important aspect of this system is that it must work cooperatively with a human operator, seamlessly passing control back and forth in order to achieve the main aim—increased productivity.

Impact and interest:

7 citations in Scopus
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7 citations in Web of Science®

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ID Code: 75810
Item Type: Journal Article
Refereed: Yes
Keywords: Robotic Mining, Draglines
DOI: 10.1177/02783649922066547
ISSN: 0278-3649
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) > MECHANICAL ENGINEERING (091300) > Automation and Control Engineering (091302)
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 06:27
Last Modified: 12 Sep 2014 04:16

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