219 草抜きロボットマニピュレータの最適草抜き位置と姿勢

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  • 219 Optimum Configurations of Weeding Robot Manipulator

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This paper deals with suitable configurations of a robot manipulator that pulls weeds out by the roots. The weeding robot manipulator, which works outside, should take away weeds in an energy-conserving way. Moreover, the weeding robot manipulator is required to generate a large force to pluck out weeds, because some weeds have roots spreading deeply and tightly. In this paper, the suitable configurations for a weeding robot manipulator are defined as configurations in which these requirements are fulfilled. In order to find such a configuration mathematically, we formulized this problem as a constrained optimization problem and then solved the problem using Sequential Quadratic Programming.

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