DESIGN AND DEVELOPMENT OF ROBOTIC PRUNING MACHINE WITH FORCE CONTROL SYSTEM

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MASAH J.; GHAZAVI M.R.; MOHAMMADI MOGHADAM M.; MINAEI SAEID

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Journal Paper

Paper Information

Journal: MODARES TECHNICAL AND ENGINEERING Year:2005 | Volume:- | Issue:20 Page(s): 45-62

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Information Journal Paper

Title

DESIGN AND DEVELOPMENT OF ROBOTIC PRUNING MACHINE WITH FORCE CONTROL SYSTEM

Author(s)

MASAH J. | GHAZAVI M.R. | MOHAMMADI MOGHADAM M. | MINAEI SAEID | Issue Writer Certificate

Keywords

FORCE CONTROL SYSTEMQ4

ROBOTIC PRUNING MACHINEQ4

AGRICULTURAL MACHINERYQ4

MECHANIZATIONQ4

Abstract

In this paper, fabrication process, theoretical, control approach and evaluation of ROBOTIC PRUNING MACHINE with FORCE CONTROL SYSTEM are described. FORCE CONTROL SYSTEM keep contact force between cutting tool and tree branch in certain limit. Operating process is such that the cutting force is measured by a load cell and the motion speed is changed by certain rate of contact force in software. In estimation of this machine motion speed of manipulator arms relation to loading rate and correction of kinematics equation, test of machine beside tree and the effect of sensitivity coefficient of the FORCE CONTROL SYSTEM on power and time consumption are investigated.

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APA: Copy

MASAH, J., GHAZAVI, M.R., MOHAMMADI MOGHADAM, M., & MINAEI, SAEID. (2005). DESIGN AND DEVELOPMENT OF ROBOTIC PRUNING MACHINE WITH FORCE CONTROL SYSTEM. MODARES TECHNICAL AND ENGINEERING, -(20), 45-62. SID. https://sid.ir/paper/25127/en

Vancouver: Copy

MASAH J., GHAZAVI M.R., MOHAMMADI MOGHADAM M., MINAEI SAEID. DESIGN AND DEVELOPMENT OF ROBOTIC PRUNING MACHINE WITH FORCE CONTROL SYSTEM. MODARES TECHNICAL AND ENGINEERING[Internet]. 2005;-(20):45-62. Available from: https://sid.ir/paper/25127/en

IEEE: Copy

J. MASAH, M.R. GHAZAVI, M. MOHAMMADI MOGHADAM, and SAEID MINAEI, “DESIGN AND DEVELOPMENT OF ROBOTIC PRUNING MACHINE WITH FORCE CONTROL SYSTEM,” MODARES TECHNICAL AND ENGINEERING, vol. -, no. 20, pp. 45–62, 2005, [Online]. Available: https://sid.ir/paper/25127/en

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