Open AccessINTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS
Author(s) -
George P. Danko
Publication year - 2006
Language(s) - English
Resource type - Reports
DOI - 10.2172/882519
Subject(s) - kinematics , trajectory , cartesian coordinate system , software , control engineering , robot , open loop controller , control system , motion control , control theory (sociology) , computer science , transformation (genetics) , excavator , machine tool , engineering , control (management) , artificial intelligence , closed loop , mathematics , mechanical engineering , biochemistry , chemistry , physics , geometry , electrical engineering , classical mechanics , astronomy , gene , programming language
This report describes the results of the 2nd year of a research project on the implementation of a novel human-robot control system for hydraulic machinery. Sensor and valve re-calibration experiments were conducted to improve open loop machine control. A Cartesian control example was tested both in simulation and on the machine; the results are discussed in detail. The machine tests included open-loop as well as closed-loop motion control. Both methods worked reasonably well, due to the high-quality electro-hydraulic valves used on the experimental machine. Experiments on 3-D analysis of the bucket trajectory using marker tracking software are also presented with the results obtained. Open-loop control is robustly stable and free of short-term dynamic problems, but it allows for drifting away from the desired motion kinematics of the machine. A novel, closed-loop control adjustment provides a remedy, while retaining much of the advantages of the open-loop control based on kinematics transformation. Additional analysis of previously recorded, three-dimensional working trajectories of the bucket of large mine shovels was completed. The motion patterns, when transformed into a family of curves, serve as the basis for software-controlled machine kinematics transformation in the new human-robot control system