Weeding manipulator exploiting its oscillatory motion for force generation: Verification of the effectiveness by simulations using Open Dynamics Engine
抄録
This paper addresses a weeding manipulator exploiting its oscillatory motion to generate a large force efficiently. To justify the exploitation, some simulations were conducted based on a manipulator model and a weed model created using open dynamics engine (ODE), which is a high performance library for simulating rigid body dynamics. The simulation results illustrated that the exploitation of an oscillatory motion is effective on force generation by a manipulator. Furthermore, it was shown that a manipulator drive method using Van der Pol (VDP) oscillator has better performance than a method using a sinusoidal wave function, because of an entrainment property of the VDP oscillator.
収録刊行物
-
- 2008 IEEE International Conference on Robotics and Biomimetics
-
2008 IEEE International Conference on Robotics and Biomimetics 1285-1290, 2009-02-22
Institute of Electrical and Electronics Engineers
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1050845763840895232
-
- NII論文ID
- 120002443214
-
- HANDLE
- 10228/4557
-
- 本文言語コード
- en
-
- 資料種別
- journal article
-
- データソース種別
-
- IRDB
- CiNii Articles