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A remote manipulator for forestry operations

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6 Author(s)
A. A. Goldenberg ; Dept. of Mech. Eng., Toronto Univ., Ont., Canada ; J. Wiercienski ; P. Kuzan ; C. Szymczyk
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A remote manipulator was developed for forestry operations to relocate operators away from hazardous operations. The operations of tree trimming are performed in the vicinity of live electrical distribution lines, generating a hazard for the operator. The remote manipulator has two major subsystems: a three degree-of-freedom (DOF) aerial device acting as the main lifting arm, and a six DOF manipulator mounted at the end of the aerial device. Each arm was rate controlled with the reference rate provided by the displacement of a corresponding hand controller, which was kinematically equivalent to the manipulator. The mechanical design, the control system of the remote manipulator, and the results of field tests are described

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992