Tree pruning robot tilting control using fuzzy logic

Abstract

This paper presents an intelligent control strategy for a wheel type tree pruning robot tilting control during climbing procedure. There are two types of tilting scenarios needed to be considered, initial setting tilt and dynamic tilt. To compensate the initial installation tilt, a tiling fuzzy controller is specifically designed to adjust the robot platform to the horizontal position before climbing up. For robot dynamic tilt, which is mainly caused by wheel slippage during the climbing, a slippage fuzzy control system is developed through the control of stepper and DC motor via the IMU. The fuzzy controllers were implemented in MATLAB Simulink and simulated in SimMechanics. The simulations verify the feasibility of the robot tilting control algorithm and the effectiveness of the fuzzy controllers.