1994 Volume 56 Issue 4 Pages 67-74
To handle the heavy matter such as watermelon and fertilizer bag, a 5d. o. f. manipulator driven by hydraulic cylinders except a wrist joint was developed. It is difficult to control the position of the manipulator by reason of the non-linear characteristics between the cylinder displacement and the joint angle. In this study, the position control for 3d.o.f. manipulator except two wrist joints was done by maps indicating the non-linear characteristics and the tracking control was carried out to estimate the performance of the control system. Using the developed method, the manipulator could track the trajectories with the sufficiently practical accuracy of positioning as an agricultural robot on real-time.
