INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS

PDF Version Also Available for Download.

Description

This report contains a detailed description of the work conducted in the first year of the project on Integrated Robot-Human Control in Mining Operations at University of Nevada, Reno. This project combines human operator control with robotic control concepts to create a hybrid control architecture, in which the strengths of each control method are combined to increase machine efficiency and reduce operator fatigue. The kinematics reconfiguration type differential control of the excavator implemented with a variety of ''software machine kinematics'' is the key feature of the project. This software re-configured excavator is more desirable to execute a given digging task. ... continued below

Creation Information

Danko, George April 1, 2005.

Context

This report is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this report can be viewed below.

Who

People and organizations associated with either the creation of this report or its content.

Author

Publisher

Provided By

UNT Libraries Government Documents Department

Serving as both a federal and a state depository library, the UNT Libraries Government Documents Department maintains millions of items in a variety of formats. The department is a member of the FDLP Content Partnerships Program and an Affiliated Archive of the National Archives.

Contact Us

What

Descriptive information to help identify this report. Follow the links below to find similar items on the Digital Library.

Description

This report contains a detailed description of the work conducted in the first year of the project on Integrated Robot-Human Control in Mining Operations at University of Nevada, Reno. This project combines human operator control with robotic control concepts to create a hybrid control architecture, in which the strengths of each control method are combined to increase machine efficiency and reduce operator fatigue. The kinematics reconfiguration type differential control of the excavator implemented with a variety of ''software machine kinematics'' is the key feature of the project. This software re-configured excavator is more desirable to execute a given digging task. The human operator retains the master control of the main motion parameters, while the computer coordinates the repetitive movement patterns of the machine links. These repetitive movements may be selected from a pre-defined family of trajectories with different transformations. The operator can make adjustments to this pattern in real time, as needed, to accommodate rapidly-changing environmental conditions. A Bobcat{reg_sign} 435 excavator was retrofitted with electro-hydraulic control valve elements. The modular electronic control was tested and the basic valve characteristics were measured for each valve at the Robotics Laboratory at UNR. Position sensors were added to the individual joint control actuators, and the sensors were calibrated. An electronic central control system consisting of a portable computer, converters and electronic driver components was interfaced to the electro-hydraulic valves and position sensors. The machine is operational with or without the computer control system depending on whether the computer interface is on or off. In preparation for emulated mining tasks tests, typical, repetitive tool trajectories during surface mining operations were recorded at the Newmont Mining Corporation's ''Lone Tree'' mine in Nevada.

Language

Item Type

Identifier

Unique identifying numbers for this report in the Digital Library or other systems.

  • Report No.: none
  • Grant Number: FC26-04NT42087
  • DOI: 10.2172/882518 | External Link
  • Office of Scientific & Technical Information Report Number: 882518
  • Archival Resource Key: ark:/67531/metadc876541

Collections

This report is part of the following collection of related materials.

Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

What responsibilities do I have when using this report?

When

Dates and time periods associated with this report.

Creation Date

  • April 1, 2005

Added to The UNT Digital Library

  • Sept. 21, 2016, 2:29 a.m.

Description Last Updated

  • Nov. 29, 2016, 4 p.m.

Usage Statistics

When was this report last used?

Yesterday: 0
Past 30 days: 0
Total Uses: 1

Interact With This Report

Here are some suggestions for what to do next.

Start Reading

PDF Version Also Available for Download.

International Image Interoperability Framework

IIF Logo

We support the IIIF Presentation API

Danko, George. INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS, report, April 1, 2005; United States. (digital.library.unt.edu/ark:/67531/metadc876541/: accessed December 11, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.