Design and development of a redundant modular multipurpose agricultural manipulator

Joerg Baur, Julian Pfaff, Heinz Ulbrich, Thomas Villgrattner

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

36 Scopus citations

Abstract

These days, agricultural work still involves demanding and exhausting duties. The application of autonomous robots is a possible way to support human labor in the field. By adapting the robots to several tasks, like harvesting or cultivation of different types of crop, costs can be reduced while the flexibility of the system is increased. Thus, in this paper several concepts of modular agricultural manipulators for sweet-pepper, apples, and grapes are presented and discussed. In order to achieve dexterous manipulation and to be able to avoid obstacles, redundant robots are investigated. Kinematic as well as dynamic simulation models are applied for system design and evaluation. Finally, the developed manipulator and first control results are introduced. Both, simulations and measurements, demonstrate the principal suitability of the system.

Original languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages823-830
Number of pages8
DOIs
StatePublished - 2012
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: 11 Jul 201214 Jul 2012

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Country/TerritoryTaiwan, Province of China
CityKaohsiung
Period11/07/1214/07/12

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