摘要：AbstractThe Japanese agriculture is facing serious concerns such as labor shortage. The agricultural robotic systems can be an answer for this issue because it can increase the working efficiency. Currently, there are various kinds of agricultural robots in the world but most of them have developed based on a modified system from current agricultural machinery such as tractor and combine harvester. In some agricultural fields such as pumpkin field, modification of current platforms doesn’t meet the requirements of smart agriculture. In this regard, this study presents the development of a controlling algorithm for a harvesting robot specifically for heavy-weight crops. This robotic system composed of a robotic arm, an end effector, and a control algorithm which installed on a robot tractor. The objective of this research is to develop a control algorithm that can (1) approach to the position of pumpkin precisely, (2) grasp pumpkin properly without damage, and (3) transport pumpkin to the truck. The Denevit-Hartenberg methodology has used for forward and inverse kinematics. Two types of experiments were conducted in a laboratory to find the accuracy and repeatability of the system. The results showed that positioning accuracy in x and y direction and repeatability of the developed system were 4.85, 4.15, and 5.23 mm, satisfied to harvest pumpkin. The positioning error of end effector was almost 5mm respectively.
