Path Planning of Tomato Cluster Harvesting Robot for Realizing Low Vibration and Speedy Transportation

DOI

書誌事項

公開日
2009
DOI
  • 10.11165/eaef.2.108
公開者
Asian Agricultural and Biological Engineering Association

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説明

A manipulator control method was developed to realize the harvesting of operation for tomato clusters at high speeds. In robot harvesting, both speedy transportation and vibration damping are required when a tomato cluster is transported into a box or a basket by using a manipulator. An input shaping method (ISM) is one of the typical control methods for such control problems. Although the ISM requires accurate natural frequencies of the controlled object, the natural frequencies are different for each tomato cluster. Then, the identification of the natural frequency was combined with the ISM in our method. This identification is based on the data obtained in real time using a machine vision system, a force sensor, and a database on the physical properties of tomato clusters. A numerical simulation study and experiments were conducted and it was verified that the proposed method was applicable to the tomato harvesting robot motion.

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詳細情報 詳細情報について

  • CRID
    1390001205276228224
  • NII論文ID
    130000120378
  • DOI
    10.11165/eaef.2.108
  • ISSN
    18818366
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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