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Modeling and control of a 3500 tonne mining robot

  • Chapter 5 Heavy Robotic Systems
  • Conference paper
  • First Online:
Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

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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References

  1. D. W. Hainsworth, P. I. Corke, and G. J. Winstanley, “Location of a dragline bucket in space using machine vision techniques,” in Proc. Int. Conf. on Acoustics. Speech and Signal Processing (ICASSP-94), vol. 6, (Adelaide), pp. 161–164, Apr. 1994.

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  2. G. Winstanley, P. Corke, and J. Roberts, “Dragline swing automation,” in Proc. IEEE Int. Conf. Robotics and Automation, (Albuquerque, NM), pp. 1827–1832, 1997.

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  3. P. I. Corke, G. Winstanley, and J. Roberts, “Dragline modelling and control,” in Proc. IEEE Int. Conf. Robotics and Automation, (Albuquerque, NM), pp. 1657–1662, 1997.

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  4. P. I. Corke, “In situ measurement of robot motor electrical constants,” Robotica, vol. 14, no. 4, pp. 433–436, 1996.

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  5. J. Roberts, P. Corke, and G. Winstanley, “Applications of closed-loop visual control to large mining machines,” in Video Proceedings of IEEE Int. Conf. on Robotics and Automation, 1996.

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Author information

Authors and Affiliations

  1. CSIRO Division of Manufacturing Science & Technology, CRC for Mining Technology and Equipment, 4069, Pinjarra Hills, Australia

    Peter I. Corke, Graeme J. Winstanley & Jonathan M. Roberts

Authors
  1. Peter I. Corke
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  2. Graeme J. Winstanley
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  3. Jonathan M. Roberts
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Corke, P.I., Winstanley, G.J., Roberts, J.M. (1998). Modeling and control of a 3500 tonne mining robot. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112968

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  • DOI: https://doi.org/10.1007/BFb0112968

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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