Kinematics modeIing of forwarder crane
Wu, Chloe (2024)
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2024052718118
https://urn.fi/URN:NBN:fi:amk-2024052718118
Tiivistelmä
This study presents the forward kinematics modeling of a forest forwarder using the Modified Denavit-Hartenberg (MDH) method.
The end effector position, velocity, and acceleration motions of the forwarder crane were analyzed and verified using the Robotics Toolbox. The developed model demonstrates accuracy and reliability, providing a valuable tool for simulating and analyzing the operations of the forwarder crane. Through verification in the Robotics Toolbox, confidence in the validity of the model is established.
This research contributes to the advancement of forestry machines by enabling the precise control and automation of forwarder crane’s movements, ultimately enhancing efficiency and safety in forestry activities.
The end effector position, velocity, and acceleration motions of the forwarder crane were analyzed and verified using the Robotics Toolbox. The developed model demonstrates accuracy and reliability, providing a valuable tool for simulating and analyzing the operations of the forwarder crane. Through verification in the Robotics Toolbox, confidence in the validity of the model is established.
This research contributes to the advancement of forestry machines by enabling the precise control and automation of forwarder crane’s movements, ultimately enhancing efficiency and safety in forestry activities.