Design and control of a heavy material handling manipulator for agricultural robots
Design and control of a heavy material handling manipulator for agricultural robots
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DOI：
10.1007/s10514-008-9090-y
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发表时间：
2008-10
影响因子：
3.5
通讯作者：
S. Sakai;M. Iida;K. Osuka;M. Umeda
中科院分区：
文献类型：
--
作者：
S. Sakai;M. Iida;K. Osuka;M. Umeda
在本文中，我们提出了一个农业机器人，处理重型材料的操作系统。在提出农业机器人新知识的基础上，对移动的平台和机械手的结构体系进行了选择和设计。此外，这些结构系统的控制系统的设计中存在的参数摄动和不确定性，同时避免保守的结果。结构和控制系统的有效性进行西瓜收获实验在一个开放的领域。此外，一个显式的设计过程中确认的结构和控制系统和三个关键的设计工具进行了澄清。
In this paper, we propose a manipulation system for agricultural robots that handle heavy materials. The structural systems of a mobile platform and a manipulator are selected and designed after proposing new knowledge about agricultural robots. Also, the control systems for these structural systems are designed in the presence of parametric perturbation and uncertainty while avoiding conservative results. The validity of both the structural and control systems is confirmed by conducting watermelon harvesting experiments in an open field. Furthermore, an explicit design procedure is confirmed for both the structural and control systems and three key design tools are clarified.