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Electronics 2017, 6(2), 39; doi:10.3390/electronics6020039

ROBI’: A Prototype Mobile Manipulator for Agricultural Applications

Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
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Academic Editor: Sergio Montenegro
Received: 14 March 2017 / Revised: 11 May 2017 / Accepted: 15 May 2017 / Published: 19 May 2017

Abstract

The design of ROBI’, a prototype mobile manipulator for agricultural applications devised following low-cost, low-weight, simplicity, flexibility and modularity requirements, is presented in this work. The mechanical design and the selection of the main components of the motion control system, including sensors and in-wheel motors, is described. The kinematic and dynamic models of the robot are also derived, with the aim to support the design of a trajectory tracking system and to make a preliminary assessment of the design choices, as well. Finally, two simulations, one specifically related to a realistic trajectory in an agricultural field, show the validity of these choices. View Full-Text
Keywords: off-road mobile manipulator design; in-wheel motors; agricultural robotics off-road mobile manipulator design; in-wheel motors; agricultural robotics
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Bascetta, L.; Baur, M.; Gruosso, G. ROBI’: A Prototype Mobile Manipulator for Agricultural Applications. Electronics 2017, 6, 39.

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