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ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks
Joint Authors
Xu, Changliang
Yang, Zhong
Xu, Hao
Zhang, Qiuyan
Chang, Le
Lu, Kaiwen
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-14
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
In this article, we present a novel aerial robot with a suspended saw (ARSS) for pruning trees that are close to electric power lines.
The Robot’s movement process includes free flight and aerial pruning.
We first established a dynamic model and designed a controller based on the Active Disturbance Rejection Control (ADRC) on the model.
Aiming at the problem of saw swing and residual oscillation during the free flight movement, we adopt the linear state feedback to design a swing angle controller.
Finally, we use Matlab/Simulink and CoppeliaSim for simulation, and the simulation results verify the effectiveness and feasibility of the controller.
American Psychological Association (APA)
Xu, Hao& Yang, Zhong& Chang, Le& Lu, Kaiwen& Xu, Changliang& Zhang, Qiuyan. 2020. ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks. Discrete Dynamics in Nature and Society،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1153573
Modern Language Association (MLA)
Xu, Hao…[et al.]. ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks. Discrete Dynamics in Nature and Society No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1153573
American Medical Association (AMA)
Xu, Hao& Yang, Zhong& Chang, Le& Lu, Kaiwen& Xu, Changliang& Zhang, Qiuyan. ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks. Discrete Dynamics in Nature and Society. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1153573
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1153573