冗長自由度を有するマニピュレータの制御方法　直動関節を含むトマト収穫用７自由度マニピュレータの制御

DOI

書誌事項

タイトル別名
  • Study on Control Method for Redundant Manipulator. Control of Tomato Harvesting Manipulator with 7 Degrees of Freedom.
  • Control of Tomato Harvesting Manipulator with 7 Degrees of Freedom
  • 直動関節を含むトマト収穫用7自由度マニピュレータの制御

抄録

It is desirable to develop an agricultural robot for reduction of labor and sterile cultivation in greenhouse or plant factory recently. It was already reported that basic mechanism of manipulator to work in tomato plant field was studied. The manipulator has 7 degrees of freedom involving prismatic joints.<BR>In this paper, the manipulator was manufactured as a trial and a control method for the redundant manipulator was investigated on purpose to harvest tomato fruit. The method is as follows; operational space was segmented into 50×75 mm small region at first. Secondly, joint angles were calculated for each segmentation by use of evaluating function which contains measure of manipulatability, manipulator and straight moving distance, and displacement of vertical prismatic joint as parameters. Thirdly, the joint angles were referred before manipulator moving.<BR>Harvesting experiment was done using the control method, after a hand with absorptive pad was attached to the manipulator. From the results, the following was obtained.<BR>(1) Segmentation of operational space made control of redundant manipulator easy and speedy.<BR>(2) It was possible for the manipulator to harvest any objects in configuration whose manipulatability and straight moving distance were big.<BR>(3) Manipulator could harvest with reasonable displacement of vertical prismatic joint by using of evaluating function which contains the displacement as parameter.

収録刊行物

詳細情報 詳細情報について

  • CRID
    1390282679359046272
  • NII論文ID
    130002034260
  • DOI
    10.2525/jshita.5.44
  • ISSN
    18803555
    09186638
  • 本文言語コード
    ja
  • データソース種別
    • JaLC
    • Crossref
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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