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Dynamic Modelling, Identification and Control of Forestry Machines

Authors: [tex2html_wrap4346]B. Mu, S. Sarkar, R. Frenette, E. Papadopoulos

Investigator username: egpapado

Category: robotics

Subcategory: identification and control

Forestry machines typically include a mobile base equipped with a manipulator arm and a specialized end-effector, for example a harvester/processor. Such systems are designed empirically, and are controlled at the joint level by experienced operators, using visual feedback. In this project we develop kinematical and dynamical models for forestry machines, including the effects of actively actuated bases. Also, the hydraulic system of an experimental machine will be modeled including its pumps, transmission lines, valves, and hydraulic actuators. Identification techniques will be used to obtain the machine's parameters. The developed models will be used to provide design aids, to drive a realistic machine simulator, as well as to design a task space model based controller.