Agricultural Mobile Robot Body Vibration Characterization Using Integral Based Methodology

Abstract

This paper presents the application of integral based method for characterization of the vibration in the four-wheel agricultural mobile robot, which is designed for use in applications such trimming, spraying and harvesting. Vibration occurs when one of the wheels does not touch the ground which reduces an effective of end effector. In order to design an effective controller, an accurate mathematical model is needed. Results show that the proposed method can simplify the system identification procedure, while yielding excellent match in comparison to the standard black box method. The proposed algorithm gave an NRMSE match of 96.8%, while the standard method yielded a 76.1% match. This match is also found to be lower when the validation data was from other experiments.