Tilling Depth Control of Compact Plowing Robot toward Home Gardens

A compact plowing robot for home gardens requires to be developed. Specifically, the foraging motion of the mallard gives a good idea of the depth control of the robot during feeding. Based on this lesson from its motion, the most important aspect from a practical point of view is to implement a four-bar linkage with a feedback controller. This paper details on the link mechanism for the control of tilling depth. The feedback controller is designed using PI controller for the depth control. The plowing robot prototype is designed to evaluate the effectiveness for the proposed depth control. From the experimental results, the tilling depth was controlled according to desired inputs, and it can be ensuring for the multi-functionality of cultivating works in home gardens.