Modeling and control of a 3500 tonne mining robot

Corke, Peter I., Winstanley, Graeme J., & Roberts, Jonathan M. (1998) Modeling and control of a 3500 tonne mining robot. Lecture Notes in Control and Information Sciences, 232, pp. 262-274.

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Draglines are extremely large machines that are widely used in open-cut coal mines for overburden stripping. Since 1994 we have been working toward the development of a computer control system capable of automatically driving a dragline for a large portion of its operating cycle. This has necessitated the development and experimental evaluation of sensor systems, machines models, closed-loop control controllers, and an operator interface. This paper describes our steps toward the goal through scale-model and full-scale field experimentation.

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ID Code: 83412
Item Type: Journal Article
Refereed: Yes
Additional Information: Experimental Robotics V: The Fifth International Symposium Barcelona, Catalonia, June 15–18, 1997
Keywords: Automation and robotics, Control engineering, Large machines, Coal mines, Dragline, Sensor systems
DOI: 10.1007/BFb0112968
ISBN: 9783540762188
ISSN: 0170-8643
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 1998 Springer-Verlag
Deposited On: 13 Apr 2015 23:11
Last Modified: 13 Apr 2015 23:17

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