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http://dx.doi.org/10.5573/ieie.2014.51.9.238

Design of Driving Control Unit and Milking Robot Manipulator  

Shin, Kyoo Jae (Department of Digital Media Eng., Busan University of Foreign studies)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.51, no.9, 2014 , pp. 238-247 More about this Journal
Abstract
The milking robot system is very important to detect correctly the teats position in the moving condition of cow. Also, the robot manipulator must control tracking the teat cup to the detected teat position. The presented milking robot is designed using the one point laser sensor for teat position detection. The teats of cow are detected by the laser scanning unit and the manipulator has the function of 3 axes moving control unit. The presented teat detection method and the electrical driving manipulator have the advantages of a simple, low cost and very quiet. The designed manipulator is realized by the totally electrical motor and servo poison control algorithm with velocity PID compensation. The presented robot is realized using the teat detection unit, 4 teat cups, 3 axes robot arm, 6 servo motors and automatic milking control line. The designed robot is experimented in the cow farm and is satisfied with the designed performance specification for milking robot manipulator.
Keywords
Milking robot; Miking manupulator; Embedded control unit; Laser scanning; Moving target tracking;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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