JRM Vol.25 No.1 pp. 232-239
doi: 10.20965/jrm.2013.p0232


Rock Moving Operation Using a Rod-Shaped Manipulator

Anusorn Iamrurksiri, Takashi Tsubouchi, and Shigeru Sarata

University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8577, Japan

August 8, 2012
October 26, 2012
February 20, 2013
rock breaking, graspless manipulation, stereo vision

At the working front in a quarry, a hydraulic breaker is used to break large rocks into suitable sizes before they are fed into a rock crusher machine. The purpose of this study is to automate the rock breaking operation using a hydraulic breaker. In rock breaking operations, because the range of motion of hydraulic breakers suitable for breaking rocks is limited, the operator of a hydraulic breaker has to use a chisel, which is located at the top of the hydraulic hammer, to bring large rocks closer before they are broken. In this paper, we describe an approach, using stereo vision, to recognize the positions and shapes of large rocks and the automation of rock moving operations. For rock recognition and rock moving experiments, we set up a scaled down experimental environment in a laboratory and use small rocks and a robotic manipulator in the experiments.

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