<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Agriculture as a key industry for human food suply will face various concerns in near future. This research is complementary and aims to present the dynamic modelling and simulation, as well as algorithm development of a 4-DOF SCARA-type robotic arm designed for real agricultural cultivation process, such as seeding, watering, fertilizing, weeding, etc. In terms of a previously designed system, the equations of motion profile were solved (acceleration and deceleration control of joints) to reduce inertia, ensure a smooth motion, and minimize torque requirement. The algorithm is evaluated by PTP motion, TCP linear motion, and spline motion. The results show that the developed algorithm can move the TCP using ST-profile. Furthermore, it can control all joints for an estimated time duration. A novel method was developed to manoeuvre the TCP along the shortest path to reach a goal point. Finally, the algorithm was evaluated in a closed path inside the working space.</p>
</abstract>

Agriculture as a key industry for human food suply will face various concerns in near future. This research is complementary and aims to present the dynamic modelling and simulation, as well as algorithm development of a 4-DOF SCARA-type robotic arm designed for real agricultural cultivation process, such as seeding, watering, fertilizing, weeding, etc. In terms of a previously designed system, the equations of motion profile were solved (acceleration and deceleration control of joints) to reduce inertia, ensure a smooth motion, and minimize torque requirement. The algorithm is evaluated by PTP motion, TCP linear motion, and spline motion. The results show that the developed algorithm can move the TCP using ST-profile. Furthermore, it can control all joints for an estimated time duration. A novel method was developed to manoeuvre the TCP along the shortest path to reach a goal point. Finally, the algorithm was evaluated in a closed path inside the working space.

Dynamic Modelling and Motion Control of a 4-DOF SCARA Robotic Arm for Various Farm Applications

Henan University of Science and Technology

Acta Technologica Agriculturae

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Agriculture as a key industry for human food suply will face various concerns in near future. This research is complementary and aims to present the dynamic...

Dynamic Modelling and Motion Control of a 4-DOF SCARA Robotic Arm for Various Farm Applications

Published Online: Aug 10, 2021

Page range: 103 - 111

DOI: https://doi.org/10.2478/ata-2021-0018

Keywords
smart, robot, algorithm, dynamics, kinematics

© 2021 Ali Roshanianfard et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Dynamic Modelling and Motion Control of a 4-DOF SCARA Robotic Arm for Various Farm Applications

Published Online: Aug 10, 2021

Page range: 103 - 111

DOI: https://doi.org/10.2478/ata-2021-0018

Keywordssmart, robot, algorithm, dynamics, kinematics

© 2021 Ali Roshanianfard et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
smart, robot, algorithm, dynamics, kinematics