Proceedings of the Korean Society for Agricultural Machinery Conference (한국농업기계학회:학술대회논문집)

Korean Society for Agricultural Machinery (한국농업기계학회)
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DEVELOPMENT OF AGRICULTURAL HYDRAULIC ROBOT(Part I) - Dynamic Characteristics and System Identification -

  • Iida, Michihisa (Department of Agricultural Engineering Faculty of Agriculture, Kyoto University) ;
  • Umeda, Mikio (Department of Agricultural Engineering Faculty of Agriculture, Kyoto University) ;
  • Namikawa, Kiyoshi (Department of Agricultural Engineering Faculty of Agriculture, Kyoto University)
  • Published : 1993.10.01
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Abstract

We have developed an agricultural hydraulic robot to operate in the agricultural field. Using the robot, automatic harvesting experiments of watermelon were done. The results are as follows. First, the gripper should be modified its finger. Second, the manipulator and the gripper should be known precisely about dynamic characteristics of them in order to control adequately. Therefore, a new gripper was manufactured on trial by modifying its finger, and in order to known dynamic characteristics of the manipulator and the new gripper, the system identification was carried out with experiments.

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