TY - GEN
T1 - Analysis of workspace for a harvesting manipulator based on Monte-Carlo method
AU - Cui, Yujie
AU - Hua, Jianning
AU - Shi, Pu
PY - 2010
Y1 - 2010
N2 - The working space of manipulator is an important dynamic index. Exact computation of the boundary shape and volume or area of the manipulator workspace is very important for its optimum design and application. The workspace should cover the harvesting fruit distribution space of one plant. In this paper, the kinematic model of the manipulator is presented and Monte Carlo method is used to generate a 4-DOF manipulator workspace. As a random sampling numerical method, the Monte Carlo method is relatively simple and flexible to apply, so it is suitable for the workspace generation of the manipulator. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator's working space is well-knit and this method is feasible and practical.
AB - The working space of manipulator is an important dynamic index. Exact computation of the boundary shape and volume or area of the manipulator workspace is very important for its optimum design and application. The workspace should cover the harvesting fruit distribution space of one plant. In this paper, the kinematic model of the manipulator is presented and Monte Carlo method is used to generate a 4-DOF manipulator workspace. As a random sampling numerical method, the Monte Carlo method is relatively simple and flexible to apply, so it is suitable for the workspace generation of the manipulator. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator's working space is well-knit and this method is feasible and practical.
KW - Harvesting manipulator
KW - Monte-Carlo method
KW - Working space
UR - http://www.scopus.com/inward/record.url?scp=77956494916&partnerID=8YFLogxK
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U2 - 10.1109/CCTAE.2010.5544495
DO - 10.1109/CCTAE.2010.5544495
M3 - Conference contribution
AN - SCOPUS:77956494916
SN - 9781424469451
T3 - CCTAE 2010 - 2010 International Conference on Computer and Communication Technologies in Agriculture Engineering
SP - 311
EP - 314
BT - CCTAE 2010 - 2010 International Conference on Computer and Communication Technologies in Agriculture Engineering
T2 - 2010 International Conference on Computer and Communication Technologies in Agriculture Engineering, CCTAE 2010
Y2 - 12 June 2010 through 13 June 2010
ER -