草刈ロボットの動作シミュレーション

抄録

Currently, there is a serious safety issue for mowing machines such as brush cutter. Therefore, the authors has researched and developed a remote controlled compact mowing robot. In this paper, analysis and evaluation of developed mowing robot by simulation is described. Driving and mowing motors of robot is modeled in order to improve the mowing performance. The robot velocity and cutting speed are controlled by feedback control. For simulation, the load torque for each motor is measured with and without grass load. From simulation results, small effect of lard torque from grass on mowing performance is observed.