Title :
Watermelon harvesting experiment of a heavy material handling agricultural robot with LQ control
Author :
Sakai, Satoru ; Osuka, Koichi ; Fukushima, Hiroaki ; Iida, Michihisa
Author_Institution :
Dept. of Environ. Sci. & Technol., Kyoto Univ., Japan
Abstract :
For heavy material handling, we first propose an agricultural robot which consists of a 4-DOF underactuated manipulator, a crawler vehicle, and a passive hand in the first step. Then, we discuss the use of LQ control for high speed manipulation. We design a control system based on the characteristics of agricultural operations and the manipulator. The robust stability is analyzed under the structured uncertainty. The robotic harvesting experiment was done in a watermelon field and the effectiveness of LQ control was confirmed.
Keywords :
agriculture; linear quadratic control; manipulator kinematics; materials handling; stability; uncertain systems; LQ Control; agricultural robot; heavy material handling; kinematic model; linear quadratic control; robust stability; structured uncertainty; underactuated manipulator; watermelon harvesting; Agriculture; Control systems; Crawlers; Kinematics; Manipulators; Materials handling; Materials science and technology; Robot control; Robust control; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041483
