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Original title:
Agricultural Manipulators
Original subtitle:
Simulation, Design and Motion Planning
Translated title:
Landwirtschaftsmanipulatoren
Translated subtitle:
Simulation, Auslegung und Bahnplanung
Author:
Baur, Jörg
Year:
2015
Document type:
Dissertation
Faculty/School:
Fakultät für Maschinenwesen
Advisor:
Ulbrich, Heinz (Prof. Dr. habil.);
Referee:
Ulbrich, Heinz (Prof. Dr. habil.); Reinhart, Gunther (Prof. Dr.)
Language:
en
Subject group:
LAN Landbauwissenschaft; MAS Maschinenbau
TUM classification:
MTA 000d
Abstract:
This thesis deals with essential topics for the design of modular agricultural manipulators for selectively harvesting and precision spraying of pesticides. Besides the kinematic design of redundant manipulators and its evaluation, modeling and simulation of the system as well as motion planning strategies are addressed. All the implemented methods were verified on three developed and realized manipulator prototypes in laboratory and field experiments.
Translated abstract:
In dieser Arbeit werden wesentliche Themen zur Entwicklung von modularen Landwirtschaftsrobotern für selektives Ernten und zielgerichtetes Sprühen von Pestiziden behandelt. Neben der kinematischen Auslegung des redundanten Manipulators, sowie der Modellbildung und Simulation stehen Bahnplanungsalgorithmen im Fokus der Dissertation. Alle implementierten Methoden wurden an drei Manipulator-Prototypen in Labor- und Feldversuchen verifiziert.
WWW:
https://mediatum.ub.tum.de/?id=1232047
Date of submission:
09.03.2015
Oral examination:
13.05.2015
File size:
38777315 bytes
Pages:
152
Urn (citeable URL):
https://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20150513-1232047-1-3
Last change:
09.06.2015
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