Mining Robotics

Corke, Peter; Roberts, Jonathan; Cunningham, J.; Hainsworth, D.W.

doi:10.1007/978-3-540-30301-5_50

Cited by 20 publications

(13 citation statements)

References 24 publications

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“…Mining is an ancient and broad practice, dating back to Palaeolithic times (43 000 years ago) [2] and involves the extraction of materials from the Earth's crust for utilitarian purposes. Today we mine minerals (e.g., gemstones, metals, salt, coal, and many others), aggregates, natural gas, and petroleum.…”

Section: Modern Mining Practicementioning

confidence: 99%

Robotics in Mining

Marshall

Bonchis

Nebot

et al. 2016

Springer Handbook of Robotics

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This chapter presents an overview of the state-of-the-art in mining robotics, from surface to underground applications, and beyond. Mining is the practice of extracting resources for utilitarian purposes. Today, the international business of mining is a heavily mechanized industry that exploits the use of large diesel and electric equipment. These machines must operate in harsh, dynamic, and uncertain environments such as, for example, in the high arctic, in extreme desert climates, and in deep underground tunnel networks where it can be very hot and humid. Applications of robotics in mining are broad and include robotic dozing, excavation, and haulage, robotic mapping and surveying, as well as robotic drilling and explosives handling. This chapter describes how many of these applications involve unique technical challenges for field roboticists. However, there are compelling reasons to advance the discipline of mining robotics, which include not only a desire on the part of miners to improve productivity, safety, and lower costs, but also out of a need to meet product demands by accessing orebodies situated in increasingly challenging conditions.

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Section: Modern Mining Practicementioning

confidence: 99%

Robotics in Mining

Marshall

Bonchis

Nebot

et al. 2016

Springer Handbook of Robotics

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“…Hydraulic actuation systems are characterized by multiple convenient features (namely high power density, reliability, and relatively low maintenance cost) that make them particularly fit to several application domains. Not by chance these actuators are the most widespread in the construction and earthworks machinery sector [1,2], in the mining industry [3], and also in the agriculture and forestry field [4]. In spite of the aforementioned advantages, hydraulic actuators are typically affected by low-frequency resonance phenomena.…”

Section: Introductionmentioning

confidence: 99%

On the Estimation of Resonance Frequencies of Hydraulically Actuated Systems

Pencelli¹,

Villa²,

Argiolas³

et al. 2019

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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A common problem when operating heavy hydraulic machines consists in low-frequency resonance phenomena that significantly limit the bandwidth of the closed loop position control. The interest in this topic is further motivated by the fact that the usage of traditional dynamic models of hydraulic actuators usually leads to the identification of very high-frequency resonances. This paper tries to explain the origin of low-frequency resonances by analysing the kinematic coupling between hydraulic actuators and structural links that can be found in typical hydraulically actuated machines. A novel formula for the identification of such resonance frequencies is derived. A realistic simulation environment is used to identify the resonance frequencies corresponding to different load masses and link lengths. Finally, the identified frequencies are compared to the results obtained using the two formulas, showing the superior accuracy of the newly proposed approach with respect to the traditional one.

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“…The potential application domain of this research is not limited to onshore/offshore oil well drilling, but the same principles can be applied, in particular, to different types of mining robots [1], telerobotic systems for dredging and mining ocean [2][3][4][5], surgical drilling [6], and telerobotic systems for drilling the extraterrestrial terrain to discover and research the minerals and composition beneath [5,7].…”

Section: Introductionmentioning

confidence: 99%

Design of Telerobotic Drilling Control System with Haptic Feedback

Shah

Polushin

2013

Journal of Control Science and Engineering

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The paper deals with the design of control algorithms for virtual reality based telerobotic system with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string/drive systems and rock cutting/penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.

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Mining Robotics

Cited by 20 publications

References 24 publications

Robotics in Mining

Robotics in Mining

On the Estimation of Resonance Frequencies of Hydraulically Actuated Systems

Design of Telerobotic Drilling Control System with Haptic Feedback

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