ARSS: a novel aerial robot performs tree pruning tasks
type: Item
instance of: scholarly article
title: ARSS: a novel aerial robot performs tree pruning tasks
zbMATH Open document ID: 1459.70023
DOI: 10.1155/2020/8883655
author: Hao Xu
author: Zhong Yang
author: Le Chang
author: Kaiwen Lu
author: Changliang Xu
author: Qiuyan Zhang
published in: Discrete Dynamics in Nature and Society
publication date: 2020-12-01T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 93D20
zbMATH DE Number: 7279714
describes a project that uses: Simulink
describes a project that uses: CoppeliaSim
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2020/8883655
OpenAlex ID: W3092838273
cites work: On the convergence of an extended state observer for nonlinear systems with uncertainty
description: scientific article