| 203B2 |
|---|
| A Study on Force Control for Weeding Robot Manipulator |
| AUTHORS |
| Sou Watanabe, Jun Kobayashi, Fujio Ohkawa (Kyushu Institute of Technology) |
| ABSTRACT |
| This paper describes a force control method for a weeding robot manipulator. The weeding robot manipulator should pluck out a large variety of weeds from its root. Such a robot system has image processing，rough road driving vehicle，manipulation of the robot，autonomous decision and so on，as many technologies．We take particular note of manipulation of the robot．The weeding robot has two links manipulator (2DOF) on wheeled robot．Since a gripping weed constraints movement of the manipulator，it is necessary to control a force of the manipulator well．We can reduce not only a effect of weed constraints but also a number of failure to weed by the force control of manipulator．In order to design an impedance controller，we propose a control method and carried out computer simulations．As a result，we obtained the indicator of how to decide the parameters of the controller which are suitable with the weeding robot． |
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Annual Conference 2002