Abstract
Three-point hitch is a mechanism used to connect an agricultural implement, e.g. a plow, rigidly to an agricultural tractor. Movement of a traditional three-point hitch provides only one degree of freedom. This limits the use of hitched implements and forces implement manufacturers to build additional hydraulics into the implement. In this research a tractor was instrumented to provide two rotational and two translational degrees of freedom for the rear hitch. The goal was to develop a control system which allows the operator to control the rear hitch in Cartesian coordinates. In this paper an iterative, damped least-squares (DLS) solution for the rear hitch inverse kinematic transform is presented. The method is tested on the instrumented tractor. The result is a functional control system allowing Cartesian control. The system also provides the rear hitch pose information via a virtual terminal (VT) interface.
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