4228 トマト果房収穫マニピュレータの制御 : トマト果房の運動と振動の制御(S68 農業ロボット,S68 農業ロボット)

概要

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A control method for tomato-cluster harvesting manipulator is proposed in this study. When a tomato cluster is transported into the container with the manipulator, technologies of a quick transportation and the vibration damping are required An input shaping method is one of the representative control methods for the MOVIC (Motion and vibration control). It requires accurate natural frequencies of the manipulating target to damp the flexible vibration when accelerating the target, but the tomato clusters have individual variation with natural frequencies; hence, the input shaping method is difficult to apply directly. To overcome this problem, identification method of natural frequency is combined with the input shaping method in this research. This identification was based on real time sensing data from a machine vision and a force sensor and from database of the tomato clusters. Usefulness of the proposed method was verified through both numerical simulations and hardware experiments.
社団法人日本機械学会の論文
2007-09-07