On the modeling and control of an experimental harvester machine manipulator

This paper focuses on the modeling, parameter estimation, and model validation in open and closed-loop of an experimental forestry machine manipulator. Symbolic Newton-Euler and linear graph methodologies are used in deriving mathematical models of the swing, boom and stick subsystems. Actuation dynamics are integrated with manipulator dynamics to result in a complete manipulator and actuation model. Identification procedures employed in estimating physical parameters are discussed. Model validation studies show good agreement between model predictions and experiments. The models will be used for designing a controller for coordinated endpoint motion and for a real-time graphical training simula tor.