Tilt Analysis and Control in Climbing Process of Tree-Pruning Robot

Abstract:

Tree-pruning robot can appear tilt problem in the climbing process because of the trunk shape and mechanical mechanism of its climbing legs. According to the robot's tilt problem, this paper guarantees the level of tree-pruning robot using the method of controlling the motor speed at different locations. This paper establishes a three-dimensional virtual prototype model about tree-pruning robot in ADAMS software, design controller in Matlab software, and conduct ADAMS-Matlab co-simulation. The simulation results and experimental prototypes show that the designed control method can effectively overcome the tilt problem in the crawling process.

• Periodical: Advanced Materials Research (Volume 1039)
• Pages: 345-352
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1039.345
• Online since: October 2014
• Authors: Guang Hua Fu, Xue Mei Liu*, Jin Yuan
• Keywords: Adam, Co-Simulation, MATLAB, Tilt, Tree-Pruning Robot

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