Rock Moving Operation Using a Rod-Shaped Manipulator | Zendy

Anusorn Iamrurksiri | Zendy; Takashi Tsubouchi | Zendy; Shigeru Sarata | Zendy

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Rock Moving Operation Using a Rod-Shaped Manipulator

Author(s) -

Anusorn Iamrurksiri,

Takashi Tsubouchi,

Shigeru Sarata

Publication year - 2013

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2013.p0232

Subject(s) - crusher , circuit breaker , geology , hammer , hydraulic cylinder , drill , rock bolt , hydraulic pump , geotechnical engineering , hydraulic machinery , engineering , mechanical engineering

At the working front in a quarry, a hydraulic breaker is used to break large rocks into suitable sizes before they are fed into a rock crusher machine. The purpose of this study is to automate the rock breaking operation using a hydraulic breaker. In rock breaking operations, because the range of motion of hydraulic breakers suitable for breaking rocks is limited, the operator of a hydraulic breaker has to use a chisel, which is located at the top of the hydraulic hammer, to bring large rocks closer before they are broken. In this paper, we describe an approach, using stereo vision, to recognize the positions and shapes of large rocks and the automation of rock moving operations. For rock recognition and rock moving experiments, we set up a scaled down experimental environment in a laboratory and use small rocks and a robotic manipulator in the experiments.

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