Design and Control of Agriculture Robot Integrated a Delta Manipulator

Abstract

Agriculture is one of the key sectors of Vietnam economy as well as most country in the world. Nowadays, the urgent requirement for it is an increase in production, quality of labor and labor productivity. Therefore, we researched and built self-propelled robot serving in agriculture. This promises to be one of the pioneer products with application of science and technology to modernize agriculture in our country. The robot is based on combining two main components: Automatic guided vehicle (AGV) and Delta robot with different specific tasks. Being an AGV, robot can locate and automatically move in the field without human intervention. Besides, the Delta robot is the main structure impacting directly on the field such as: watering, weeding, fertilizing, … depending on our need.This paper focuses on analyzing 3 major sections: the overall design of robot, control algorithms and computer vision programs. The System Overview helps readers have an overview of the shape and operation of robot. The control algorithm focuses on control algorithm analysis of Delta robot. And the last part introduces the computer vision programs used in Robot.The experimental results are evaluated objectively, so we can see both of the successes and the limitations. But in general, with the task set out in the subject: identifying and following vegetable rows in combination with identifying and moving the robot arm to the target need to be impacted, the robot has done very well and the results are within acceptable errors.