ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks
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...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2020/8883655 |
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| _version_ | 1832560033057996800 |
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| author | Hao Xu Zhong Yang Le Chang Kaiwen Lu Changliang Xu Qiuyan Zhang |
| author_facet | Hao Xu Zhong Yang Le Chang Kaiwen Lu Changliang Xu Qiuyan Zhang |
| author_sort | Hao Xu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-57c041c122c84cb48494ece738d2fe7e |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-57c041c122c84cb48494ece738d2fe7e2025-02-03T01:28:30ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2020-01-01202010.1155/2020/88836558883655ARSS: A Novel Aerial Robot Performs Tree Pruning TasksHao Xu0Zhong Yang1Le Chang2Kaiwen Lu3Changliang Xu4Qiuyan Zhang5College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaGuizhou Electric Power Research Institute, Guizhou Power Grid Co. Ltd., Guiyang, Guizhou 550000, ChinaIn 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.http://dx.doi.org/10.1155/2020/8883655 |
| spellingShingle | Hao Xu Zhong Yang Le Chang Kaiwen Lu Changliang Xu Qiuyan Zhang ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks Discrete Dynamics in Nature and Society |
| title | ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks |
| title_full | ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks |
| title_fullStr | ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks |
| title_full_unstemmed | ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks |
| title_short | ARSS: A Novel Aerial Robot Performs Tree Pruning Tasks |
| title_sort | arss a novel aerial robot performs tree pruning tasks |
| url | http://dx.doi.org/10.1155/2020/8883655 |
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