Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
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Development of a Multi-joint Robot Manipulator for Robot Milking System

로봇 착유시스템을 위한 다관절 매니퓰레이터 개발

  • Kim W. (Dept. of Bio-Mechatronic Engineering, SungKyunKwan University) ;
  • Lee D. W. (Dept. of Bio-Mechatronic Engineering, SungKyunKwan University)
  • Published : 2005.10.01
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Abstract

The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.

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References

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