A Study on Force Control for Weeding Robot Manipulator

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  • 1006 草抜きロボットマニピュレータの力制御に関する研究

Abstract

This paper describes a robot manipulator system which constructs and develops a weeding robot. The manipulator system consists of a 6D.O.F manipulator, motor drivers for control of motors' torq and a computer. The manipulator has a 6 axes force sensor on the wrist. Software for the robot manipulator system runs on RT-Linux, which guarantees real-time processing. The manipulator has to successfully pluck out a large variety of weeds. An impedance control policy is applied to the manipulator control system so that the manipulator can precisely adjust the force acting on weeds. Finally some control experiments carried out to verify the working of the robot manipulator system.

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