首页> 外文期刊>International Journal of Robotics & Automation >CONTRIBUTION TO MODELLING THE CABLE-SUSPENDED PARALLEL ROBOT INTENDED FOR APPLICATION IN GREENHOUSES
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CONTRIBUTION TO MODELLING THE CABLE-SUSPENDED PARALLEL ROBOT INTENDED FOR APPLICATION IN GREENHOUSES

机译:为在温室中建模用于应用型电缆悬挂的并联机器人的贡献

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摘要

The possibilities and advantages of application of the cable-suspended parallel robot (CPR system) in the process of monitoring and treating the plants in greenhouses are highlighted. This idea has multiple benefits in the process of modernization of plants' monitoring and treating procedures. The phenomenon of deviation of the position and orientation of CPR system's carrier in comparison with its idealized motion during the task implementation has been identified. The main contribution of this paper is mathematical definition of the problem of the camera and diffuser carrier position, and orientation of the CPR system used in greenhouses. A 2D solution of the problem has been obtained. Validity of the obtained mathematical solution has been illustrated through one case study using a newly developed software package REMOT (Realistic MOTion of CPR system's carrier), which was generated in MATLAB.
机译:突出了电缆悬挂并联机器人(CPR系统)在温室中监测和处理植物过程中的可能性和优点。 该思想在植物监测和治疗程序的现代化过程中具有多种益处。 已经识别了CPR系统载体的位置和取向的偏差现象与其在任务实施期间的理想运动相比。 本文的主要贡献是相机和扩散器载体位置问题的数学定义,以及温室中使用的CPR系统的方向。 已经获得了一个问题的解决方案。 通过使用新开发的软件包遥控器(CPR系统的载波的现实运动)通过一个案例研究说明了所获得的数学解决方案的有效性,该研究在Matlab中生成。

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