Design and development of a redundant modular multipurpose agricultural manipulator
Design and development of a redundant modular multipurpose agricultural manipulator
复制标题
冗余模块化多用途农业机械手的设计与开发
DOI：
10.1109/aim.2012.6265928
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
T. Villgrattner
中科院分区：
文献类型：
--
作者：
J. Baur;J. Pfaff;Heinz Ulbrich;T. Villgrattner
如今，农业工作仍然涉及要求和疲惫的职责。自主机器人的应用是支持该领域人类劳动的一种可能方式。通过使机器人适应多种任务，如收割或种植不同类型的作物，可以降低成本，同时增加系统的灵活性。因此，在本文中，模块化农业机械手的甜椒，苹果和葡萄的几个概念提出和讨论。为了实现灵巧的操作，并能够避免障碍物，冗余机器人进行了研究。运动学和动态仿真模型用于系统设计和评估。最后，介绍了所开发的机械手和第一次控制结果。模拟和测量都证明了系统的主要适用性。
These days, agricultural work still involves demanding and exhausting duties. The application of autonomous robots is a possible way to support human labor in the field. By adapting the robots to several tasks, like harvesting or cultivation of different types of crop, costs can be reduced while the flexibility of the system is increased. Thus, in this paper several concepts of modular agricultural manipulators for sweet-pepper, apples, and grapes are presented and discussed. In order to achieve dexterous manipulation and to be able to avoid obstacles, redundant robots are investigated. Kinematic as well as dynamic simulation models are applied for system design and evaluation. Finally, the developed manipulator and first control results are introduced. Both, simulations and measurements, demonstrate the principal suitability of the system.
影响因子：
9.2
作者：
YOSHIKAWA, T
通讯作者：
YOSHIKAWA, T