Modeling and control of a 3500 tonne mining robot
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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|Item Type:||Journal Article|
|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|
|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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