Man-machine cooperative system for agricultural robot part 3: experiment of polar coordinate manipulator control in trellis training

摘要

In the part 1 and 2 of this series, aiming at a safety and efficient robot system, a function for degree of danger, simulations for robot control, a sensing system including algorithms to discriminate human worker from background and to detecthuman motion were reported. In this paper, manipulator control experiments were carried out in the field by using the function for degree of danger and the sensing system. Furthermore, evaluating of working efficiency by simulation were done. From theresults, effectiveness of the robot system to work safely and efficiently was confirmed.