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Dynamic model and control for 3DOF agricultural robot


Citation

Omrane, Bouketir and Wan Ismail, Wan Ishak and Mahmud, Hilmi and Bardaie, Mohd Zohadi (1999) Dynamic model and control for 3DOF agricultural robot. In: National Conference on Engineering Smart Farming for the Next Millenium, 14-16 Mar. 1999, UPM, Serdang, Selangor. .

Abstract / Synopsis

To endow great capabilities to an agricultural robot for harvesting operations to identify the fruits, a CCD camera mounted on its end-effector and an interfacing system for controlling the process was developed. This paper will discuss on a dynamic model of a 3DOF agricultural robot and control strategy that was used and on the hardware interfacing. The dynamic model is the mathematical formulations of the equations of the robot arm motion. The control strategy depends on the kinematics and dynamic derivation. The purpose of robot arm control is to maintain the dynamic response of the manipulator in accordance with some pre-specified performance criteria. Since hydraulic power is used to actuate the whole arm, the control method is based on the control of the length of linear actuators and of the revolution of the shaft of the rotary actuator according to the position of the end-effector to control the joint angles.


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Additional Metadata

Item Type: Conference or Workshop Item (Paper)
Divisions: Faculty of Engineering
Publisher: Universiti Putra Malaysia
Keywords: 3DOF agricultural robot; Dynamic model; Control strategy; Harvesting operations; Euler-Lagrange formulation
Depositing User: Azian Edawati Zakaria
Date Deposited: 11 May 2015 11:23
Last Modified: 02 Nov 2017 11:21
URI: http://psasir.upm.edu.my/id/eprint/38434
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