日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
機械力学,計測,自動制御,ロボティクス,メカトロニクス
高さと角度の2自由度機構を有する軟弱野菜自動収穫装置の制御(第1報,根切り刃のアーム長制御)
畠山 貴充平野 幸助中村 雄太藤澤 彰宏土屋 貴司山口 達也千田 有一吉村 達也
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2017 年 83 巻 851 号 p. 16-00531

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In the present paper, development of an automatic spinach harvester is discussed. Our research group has been developing a prototype harvester and many filed tests have been successfully executed. The field test results show that spinach can be picked up automatically without being grasped after their roots being cut at specified position in soil. The harvester equips two degrees of freedom control units, such as the arm length control unit and the arm angle control unit, for controlling a root-cutting blade which follows the specified path under the ground. In the present paper, modeling and control design for the arm length control is discussed. First, a control design model is developed by several system identification techniques. Next, an I-PD controller is designed by the robust control design procedure. Control performance is verified by numerical simulations and field tests.

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© 2017 一般社団法人日本機械学会
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