Show simple item record

dc.contributor.authorDobson, Andrew A.en
dc.contributor.authorMarshall, Joshua A.en
dc.contributor.authorLarsson, Johanen
dc.date.accessioned2016-03-08T20:21:08Z
dc.date.available2016-03-08T20:21:08Z
dc.date.issued2016-03-08
dc.identifier.urihttp://hdl.handle.net/1974/14117
dc.description.abstractIn this paper we describe field trials of an admittance-based Autonomous Loading Controller (ALC) applied to a robotic Load-Haul-Dump (LHD) machine at an underground mine near Orebro, Sweden. The ALC was tuned and field tested¨ by using a 14-tonne capacity Atlas Copco ST14 LHD mining machine in piles of fragmented rock, similar to those found in operational mines. Several relationships between the ALC parameters and our performance metrics were discovered through the described field tests. During these tests, the tuned ALC took 61 % less time to load 39 % more payload when compared to a manual operator. The results presented in this paper suggest that the ALC is more consistent than manual operators, and is also robust to uncertainties in the unstructured mine environment.en
dc.language.isoenen
dc.subjectRobotic Loadingen
dc.subjectUnderground Field Trialsen
dc.subjectLHDen
dc.titleAdmittance Control for Robotic Loading: Underground Field Trials with an LHDen
dc.typejournal articleen


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record