Next Article in Journal
Energy-Aware Real-Time Task Scheduling in Multiprocessor Systems Using a Hybrid Genetic Algorithm
Previous Article in Journal
Fully-Integrated Converter for Low-Cost and Low-Size Power Supply in Internet-of-Things Applications
Article Menu
Issue 2 (June) cover image

Export Article

Open AccessFeature PaperArticle

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
Author to whom correspondence should be addressed.
Academic Editor: Sergio Montenegro
Electronics 2017, 6(2), 39;
Received: 14 March 2017 / Revised: 11 May 2017 / Accepted: 15 May 2017 / Published: 19 May 2017
PDF [6568 KB, uploaded 19 May 2017]


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

Figure 1

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).

Share & Cite This Article

MDPI and ACS Style

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

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Electronics EISSN 2079-9292 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top