Abstract
This paper presents the development of the simplified modelling and control of a long arm system for an agricultural rover, which also extends the modelling methodology from the previous work. The methodology initially assumes a flexible model and, through the use of the integral-based parameter identification method, the identified parameters are then correlated to an energy function to allow a construction of the friction induced nonlinear vibration model. To also capture the effect of the time delay, a delay model was also considered in the form of a second order delay differential equation. Both families of models were applied to identify and characterise a specialised long arm system. The nonlinear model was found to give significant improvement over the standard linear model in data fitting, which was further enhanced by the addition of the time delay consideration. A backstepping controller was also designed for both model families. Results show that the delay model expends less control efforts than the lesser non-delay model.
Highlights
The advent of robotics technology in recent decades has fuelled rapid growth in agricultural robotics, to meet the increasing demands for alternatives to human labour in agricultural production due to the difficulty of finding and retaining workers [1], and to satisfy environmental and food safety needs [2]
The inertial measurement unit (IMU) used has an on-board accelerometre as well as a gyroscope, and it is connected to a microcontroller via an I2C protocol, where the microcontroller of the acquisition system is connected to the workstation via a wireless transmitter
The identified parameters are correlated to the square of the velocity, effectively an energy-like function, to allow a construction of a nonlinear vibration model
Summary
The advent of robotics technology in recent decades has fuelled rapid growth in agricultural robotics, to meet the increasing demands for alternatives to human labour in agricultural production due to the difficulty of finding and retaining workers [1], and to satisfy environmental and food safety needs [2] Such growth has garnered significant research in recent years [3, 4]. It is obvious that the use of a robot arm is essential to reaching the required targets Agricultural processes such as harvesting and spraying on tropical fruits such as rambutan (Nephelium lappaceum) and durian (Durio zibethinus), necessitate a mobile robotic platform with elongated arms that appends to at least four metres in height. As the arms themselves move, significant vibrations are felt at the tip of the arms which must be mathematically modelled and controlled, an issue prevalent on the computer numerical control (CNC) machine tools in industrial robots [15]
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