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The International Journal of Robotics Research
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Development of a 3500-Tonne Field Robot

Jonathan M. Roberts

Peter I. Corke

Graeme J. Winstanley

CSIRO Manufacturing Science and Technology, CRC for Mining Technology and Equipment, Kenmore, Queensland 4069, Australia

The mining industry is highly suitable for the application of robotics and automation technology, since the work is arduous, dangerous, and often repetitive. This paper presents a broad overview of the issues involved in the development of a physically large and complex field robotic system—a 3500-tonne mining machine (dragline). Draglines are "walking cranes" used in open-pit coal mining to remove the material covering a coal seam. The critical issues of robust load position sensing, modeling of the dynamics of the electrical drive system and the swinging load, control strategies, the operator interface, and automation system architecture are addressed. An important aspect of this system is that it must work cooperatively with a human operator, seamlessly passing control back and forth in order to achieve the main aim—increased productivity.

The International Journal of Robotics Research, Vol. 18, No. 7, 739-752 (1999)
DOI: 10.1177/02783649922066547
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