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- WATANABE Sou
- Kyushu Institute of Technology
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- KISHIDA Shintaro
- Kyushu Institute of Technology
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- KOBAYASHI Jun
- Kyushu Institute of Technology
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- OHKAWA Fujio
- Institute of Technology
Bibliographic Information
- Other Title
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- 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
Abstract
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.
Journal
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- The Proceedings of the Dynamics & Design Conference
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The Proceedings of the Dynamics & Design Conference 2003 (0), _219-1_-_219-4_, 2003
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001205887556864
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- NII Article ID
- 110006656790
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- ISSN
- 24242993
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed