1991 Volume 53 Issue 6 Pages 49-57
A redundant manipulator with 8 degrees of freedom in which an articulated manipulator with 5 degrees of freedom was attached to a polar coordinate manipulator with 3 degrees of freedom was made as a trial with the purpose of making the best use of the characteristics of both manipulators. A visual sensor was attached to the redundant manipulator end.
In this study, a method was adopted in which the position of the manipulator was calculated mainly in 3 degrees of freedom and the posture in 5 degrees of freedom. Fruit grasping experiments were done using this redundant robot. Based on the results, the mechanism and the control method of agricultural robot which will be used for the crops having complex shapes were investgated.
