Abstract
This paper presents an intelligent control strategy for a wheel type tree pruning robot tilting control during climbing procedure. There are two types of tilting scenarios needed to be considered, initial setting tilt and dynamic tilt. To compensate the initial installation tilt, a tiling fuzzy controller is specifically designed to adjust the robot platform to the horizontal position before climbing up. For robot dynamic tilt, which is mainly caused by wheel slippage during the climbing, a slippage fuzzy control system is developed through the control of stepper and DC motor via the IMU. The fuzzy controllers were implemented in MATLAB Simulink and simulated in SimMechanics. The simulations verify the feasibility of the robot tilting control algorithm and the effectiveness of the fuzzy controllers.
| Original language | English |
|---|---|
| Title of host publication | 2017 Eleventh International Conference on Sensing Technology (ICST) |
| Subtitle of host publication | proceedings |
| Place of Publication | Piscataway, NJ |
| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| Pages | 1-5 |
| Number of pages | 5 |
| ISBN (Electronic) | 9781509065264, 9781509065257 |
| ISBN (Print) | 9781509065271 |
| DOIs | |
| Publication status | Published - 2017 |
| Event | 11th International Conference on Sensing Technology, ICST 2017 - Sydney, Australia Duration: 4 Dec 2017 → 6 Dec 2017 |
Conference
| Conference | 11th International Conference on Sensing Technology, ICST 2017 |
|---|---|
| Country/Territory | Australia |
| City | Sydney |
| Period | 4/12/17 → 6/12/17 |
Keywords
- tree pruning robot
- tilting control
- fuzzy controller
- IMU
- wheel slippage control
Fingerprint
Dive into the research topics of 'Tree pruning robot tilting control using fuzzy logic'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver