抄録
An automatic spinach harvester that can control the position and the angle of the root cutting blade has been developing. Position control of the blade is performed by a mechanism to control the arm length, the angle control is performed by the mechanism to control the angle of the blade. In harvesting experiments, the control command which was provided by trial and error is adopted. On the other hand, improvement of performance is expected by setting the control target value of each mechanism based on the desired orbit of the root cutting blade. This paper propose a method for obtaining the control target value of the cutting blade by using a geometric model of the mechanism and by solving an inverse problem.
