Dynamic model and control for 3DOF agricultural robot
To endow great capabilities to an agricultural robot for harvesting operations to identify the fruits, a CCD camera mounted on its end-effector and an interfacing system for controlling the process was developed. This paper will discuss on a dynamic model of a 3DOF agricultural robot and control st...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Universiti Putra Malaysia
1999
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| Online Access: | http://psasir.upm.edu.my/id/eprint/38434/1/38434.pdf |
| _version_ | 1825949225493463040 |
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| author | Omrane, Bouketir Wan Ismail, Wan Ishak Mahmud, Hilmi Bardaie, Mohd Zohadi |
| author_facet | Omrane, Bouketir Wan Ismail, Wan Ishak Mahmud, Hilmi Bardaie, Mohd Zohadi |
| author_sort | Omrane, Bouketir |
| collection | UPM |
| description | To endow great capabilities to an agricultural robot for harvesting operations to identify the fruits, a CCD camera mounted on its end-effector and an interfacing system for controlling the process was developed.
This paper will discuss on a dynamic model of a 3DOF agricultural robot and control strategy that was used and on the hardware interfacing. The dynamic model is the mathematical formulations of the equations of the robot arm motion. The control strategy depends on the kinematics and dynamic derivation. The purpose of robot arm control is to maintain the dynamic response of the manipulator in accordance with some pre-specified performance criteria. Since hydraulic power is used to actuate the whole arm, the control method is based on the control of the length of linear actuators and of the revolution of the shaft of the rotary actuator according to the position of the end-effector to control the joint angles. |
| first_indexed | 2024-03-06T08:41:17Z |
| format | Conference or Workshop Item |
| id | upm.eprints-38434 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T08:41:17Z |
| publishDate | 1999 |
| publisher | Universiti Putra Malaysia |
| record_format | dspace |
| spelling | upm.eprints-384342017-11-02T03:21:48Z http://psasir.upm.edu.my/id/eprint/38434/ Dynamic model and control for 3DOF agricultural robot Omrane, Bouketir Wan Ismail, Wan Ishak Mahmud, Hilmi Bardaie, Mohd Zohadi To endow great capabilities to an agricultural robot for harvesting operations to identify the fruits, a CCD camera mounted on its end-effector and an interfacing system for controlling the process was developed. This paper will discuss on a dynamic model of a 3DOF agricultural robot and control strategy that was used and on the hardware interfacing. The dynamic model is the mathematical formulations of the equations of the robot arm motion. The control strategy depends on the kinematics and dynamic derivation. The purpose of robot arm control is to maintain the dynamic response of the manipulator in accordance with some pre-specified performance criteria. Since hydraulic power is used to actuate the whole arm, the control method is based on the control of the length of linear actuators and of the revolution of the shaft of the rotary actuator according to the position of the end-effector to control the joint angles. Universiti Putra Malaysia 1999 Conference or Workshop Item PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/38434/1/38434.pdf Omrane, Bouketir and Wan Ismail, Wan Ishak and Mahmud, Hilmi and Bardaie, Mohd Zohadi (1999) Dynamic model and control for 3DOF agricultural robot. In: National Conference on Engineering Smart Farming for the Next Millenium, 14-16 Mar. 1999, UPM, Serdang, Selangor. . |
| spellingShingle | Omrane, Bouketir Wan Ismail, Wan Ishak Mahmud, Hilmi Bardaie, Mohd Zohadi Dynamic model and control for 3DOF agricultural robot |
| title | Dynamic model and control for 3DOF agricultural robot |
| title_full | Dynamic model and control for 3DOF agricultural robot |
| title_fullStr | Dynamic model and control for 3DOF agricultural robot |
| title_full_unstemmed | Dynamic model and control for 3DOF agricultural robot |
| title_short | Dynamic model and control for 3DOF agricultural robot |
| title_sort | dynamic model and control for 3dof agricultural robot |
| url | http://psasir.upm.edu.my/id/eprint/38434/1/38434.pdf |
| work_keys_str_mv | AT omranebouketir dynamicmodelandcontrolfor3dofagriculturalrobot AT wanismailwanishak dynamicmodelandcontrolfor3dofagriculturalrobot AT mahmudhilmi dynamicmodelandcontrolfor3dofagriculturalrobot AT bardaiemohdzohadi dynamicmodelandcontrolfor3dofagriculturalrobot |