畝間移動ロボットに関する基礎的研究 : 第1報,畝の曲りに沿った模擬移動

概要

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This paper deals with the basic research for the development of the field furrow mobile robot which moves in a farm field. Field furrow mobile robot must along the winding of a ridge. In this paper, problems due to the movement of the robot and measurement of winding of a ridge were shown. These problems were solved by a new method which the sensor was attached to the robot. We used an ordinary linear potentiometer to measure the winding of a ridge. Attachment angle of the potentiometer was determined by computer simulations using simulated robot model and simulated ridge configuration models which had winding along a ridge. The computer simulation results showed that the robot movement stability increased with the increase of potentiometer angle attached to the robot. Potentiometer attached the robot at 30 degrees which was determined by computer simulation results and other factors. We performed experiments of the robot movements using the robot system and the simulated ridge configurations. From these results, the robot was observed to move along the winding of simulated ridge configuration. he movement of the robot along the winding of a ridge and the sensor system for measuring the winding were proposed, and their validity was proven by computer simulations and experiments.
社団法人日本機械学会の論文
1995-02-25