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2024 Vol.6, Issue 2 Preview Page

Research Article

Pitch angle control of the self-balancing cargo platform in an agricultural mobile robot using a 3-RPS parallel mechanism
Andong Huang1
,
Woo-Young Kim2
,
Tean Chen3
,
Jeyeon Jang3
,
Kyeong-Hwan Lee1234*
1Department of Convergence Biosystems Engineering, Chonnam National University, Gwangju 61186, Republic of Korea
2AI Agri-Tech Research Center, Chonnam National University, Gwangju 61186, Republic of Korea
3Department of Rural and Biosystems Engineering, Chonnam National University, Gwangju 61186, Republic of Korea
4BK21 Interdisciplinary Program in IT-Bio Convergence System, Chonnam National University, Gwangju 61196, Republic of Korea
*Corresponding Author
30 June 2024. pp. 151-164
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Abstract

To reduce the workload of farmers in transporting agricultural products, transport robots have been deployed in agricultural fields. However, maintaining the stability of transported goods on inclined or uneven ground remains a challenge. To address this issue, we introduced a balance control system based on a 3-RPS (Revolute-Prismatic-Spherical) parallel mechanism to ensure cargo stability. We used ADAMS and Matlab Simulink for joint simulation. Through ADAMS, we established the kinematic model of the 3-RPS parallel mechanism and input parameters, such as the current angle and height of the platform, into Matlab Simulink. After computing the kinematic inverse solution of the 3-RPS parallel mechanism, we employed a PID (Proportional-Integral-Derivative) controller to ensure precise control, successfully simulating the maintenance of balance by the 3-RPS parallel system during motion. To validate our approach, we installed an IMU (Inertial Measurement Unit) on the cargo platform of a mobile robot to collect data on platform angle variations and tested the balance control system on sloped agricultural roads. The balance control system reduced the pitch angle of the cargo platform from 11.53° to 1.09° on a continuous uphill road and from 14.13° to 2.85° on a bumpy and downhill road. These results demonstrate the effectiveness of the balance control system in significantly reducing platform tilt and maintaining near-level operation.

Keywords
Balance control
3-RPS mechanism
Mobile robot
PID
Inverse kinematics
References
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Information
  • Publisher :Korean Society of Precision Agriculture
  • Publisher(Ko) :한국정밀농업학회
  • Journal Title :Precision Agriculture Science and Technology
  • Journal Title(Ko) :정밀농업과학기술
  • Volume : 6
  • No :2
  • Pages :151-164
  • Received Date : 2024-06-24
  • Revised Date : 2024-06-24
  • Accepted Date : 2024-06-25
  • DOI :https://doi.org/10.22765/pastj.20240011
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