1A1-Q07 傾斜地草刈りロボットのための揺動式草刈り装置の運動解析と走行部遠隔操作システムの開発(農業用ロボット・メカトロニクス)

抄録

In this paper, we describe development of kinematic analysis for mowing device and motor controller for mowing robot on a slope. This robot,t raveling device use a crawler set to a low center of gravity. Mowing scheme was used which was reproduced using the mechanism (linkage mechanism), the reciprocating motion of the person when using herbicidal method mowing power. As a means of confirmation of the work area, the equation of motion was created to represent the trajectory of the link mechanism in two dimensions. As a result, I was able to link trail is modeled as a reciprocating motion of the arc from a formula. Program the remote control between the PC and the controller running the program has been completed. Therefore, promoting the development of a remote control system based on this program.