自動収穫ロボットのための連続体マニピュレータによる障害物回避と果実収穫

抄録

This paper proposes a new type of manipulator which works in green houses. The feature of the manipulator is a continuum manipulator using wire length control. New type can avoid road profile and can be very light multi-degree of freedom. A prototype of manipulator is introduced. We made one segment prototype and controlled it. Its motion is analyzed by transformation matrix by kinematics. Various motion is examined using prototype manipulator. Consequently, we can realize motions by feed forward control, however t is proved that there are some problems about heavy load and singular point.