Scheduled System Maintenance:
On May 6th, system maintenance will take place from 8:00 AM - 12:00 PM ET (12:00 - 16:00 UTC). During this time, there may be intermittent impact on performance. We apologize for the inconvenience.
By Topic

Robust Control Systems of a Heavy Material Handling Agricultural Robot: A Case Study for Initial Cost Problem

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
4 Author(s)
Sakai, S. ; Kyoto Univ., Kyoto ; Osuka, K. ; Maekawa, T. ; Umeda, M.

As a case study for initial cost problem, we realize new manipulation and perception for a heavy material handling agricultural robot with high-cost components reductions, which requires more robust controllers. More precisely, first, we give a new manipulator with a passive joint and a new camera configuration with only one camera. Second, we design robust controllers using gain-scheduling and -synthesis based on some structural properties such as the friction in the presence of uncertainty, nonlinearity, and constraint, while avoiding conservative results by an analytical approach. Finally, we evaluate the validity by experiments in an actual open field, which is the most important part of this paper. The robust controllers reduce the initial cost.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:15 ,  Issue: 6 )