繋ぎ飼い用搾乳ロボットシステムの開発研究 (第2報)  乳頭追従のための制御系とロボットマニピュレータの可操作度

  • 八谷 満
    農業機械学会 生物系特定産業技術研究推進機構 現在, 農業技術研究機構 北海道農業研究センター
  • 平田 晃
    農業機械学会 生物系特定産業技術研究推進機構
  • 桑名 隆
    農業機械学会 生物系特定産業技術研究推進機構 現在: 農業機械学会事務局
  • 荊木 義孝
    オリオン機械 (株)
  • 比佐 慶夫
    (株) コア

書誌事項

タイトル別名
  • Research and Development of Milking Robot System for Stanchion Barns. (Part 2). Control System for Tracking Teat Movement and Manipulability of Robot Manipulator.
  • ギジュツ ロンブン ツナギガイ ヨウ サクニュウ ロボット システム ノ カイハツ ケンキュウ ダイ2ホウ ニュウトウ ツイジュウ ノ タメ ノ セイギョケイ ト ロボットマニピュレータ ノ カ ソウサド
  • Control System for Tracking Teat Movement and Manipulability of Robot Manipulator
  • 乳頭追従のための制御系とロボットマニピュレータの可操作度

この論文をさがす

抄録

This paper deals with designing a positional feedback controller for a manipulator with 3rotational joints on a X-Y plane that follows the teat movement. The frequency response of 1st 2nd and 3rd joint of the manipulator indicated that the natural frequency of the axes were 3.5Hz, 4.5Hz and 4.5Hz, respectively. Although the gain rate was set to five to stabilize the control system, it can fully follow the motions up to 0.7-0.9Hz. Positional commands are sent to the servo drivers at intervals 20ms via the positioning pulse distributor so that the deviation is less than the set value. We assume the manipulator, based on of the frequency of teat motion obtained from our preliminary study, will not encounter teat movement during practical use. The manipulator with a 3-D. O. F. is essentially the same as one with a 2-D. O. F., but with a restricted manipulator range in the 3rd joint when parallel to the cow's body axis. This allows the inverse kinematics of the 3-D. O. F. system to be expressed more simply. Furthermore, we showed that the manipulator worked most efficiently when the manipulator's manipulability measure was over 80% in the operational space. This means that the manipulator will know the contours and movements of the cow's body so that it can quickly and easily attach teat-cups to the udder.

収録刊行物

被引用文献 (1)*注記

もっと見る

参考文献 (22)*注記

もっと見る

詳細情報 詳細情報について

問題の指摘

ページトップへ