Path planning for a sludge processing robot by means of trajectory simulation
- Publikations-Art
- Kongressbeitrag
- Autoren
- Starcevic N, Thullner C, Bux M, Müller J
- Erscheinungsjahr
- 2008
- Veröffentlicht in
- Proceedings of the 36th International Symposium on Agricultural Engineering
- Herausgeber
- Faculty of Agriculture, University of Zagreb
- Seite (von - bis)
- 347-358
- Tagungsname
- 36th International Symposium "Actual Tasks on Agricultural Engineering"
- Tagungsort
- Opatja (Croatia)
- Tagungsdatum
- 11.02.2008
- Schlagworte
- Bahnplanung, Biomasse, Simulation, solare Trocknung
The University of Hohenheim and Thermo-System GmbH have developed six motion strategies for a Cartesian 4-DOF mixing and transporting greenhouse robot. Each of the corresponding trajectories consists of more than 1,300 threedimensional coordinate points. The general approach of motion strategy assessment was done according to the guideline VDI-4446. The total cycle times range between 84,328 s and 114,099 s. The covered distances stot range between 33 km and 44 km per day. By doubling maximum velocity to 60 m/min in x-direction and to 20 m/min in y-direction the total cycle times would be reduced by maximum 20%.