Effect of Force Control System on Power and Time Consumption in Robotic Pruning Machine

Force control system is used in robots with different types of application. Force control systems are used in operations that there are not enough vision data and may be including unforeseen manipulator errors. In this machine, motion speed of end effector is being changed by certain rate of contact force in software. In this paper, at first manipulator operation and end effector of robotic pruning machine with force control system are described. Then the effect of sensitivity coefficient of force control system, rotating speed of cutting tool, diameter of wood bar and separate and interface effects of them on cutting time and power consumption are analyzed by Duncan’s test. Finally, with investigation of comparison means and results of analysis of variance, the effect of force control system on time and power consumption, and method of suitable usage of the force control system in robotic pruning machine are investigated.

کلیدواژه ها:

Force control system ، Sensitivity coefficient ، Robotic pruning machine ، Agricultural machinery