| Co-Investigator(Kenkyū-buntansha) |
吉野 正人 信州大学, 学術研究院工学系, 教授 (00324228)
飯塚 浩二郎 芝浦工業大学, システム理工学部, 教授 (10453672)
種村 昌也 信州大学, 学術研究院工学系, 助教 (10846885)
西村 秀和 慶應義塾大学, システムデザイン・マネジメント研究科(日吉), 教授 (70228229)
成澤 慶宜 信州大学, 工学部, 研究員 (10804685)
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| Budget Amount *help |
¥44,070,000 (Direct Cost: ¥33,900,000、Indirect Cost: ¥10,170,000)
Fiscal Year 2020: ¥7,930,000 (Direct Cost: ¥6,100,000、Indirect Cost: ¥1,830,000)
Fiscal Year 2019: ¥7,930,000 (Direct Cost: ¥6,100,000、Indirect Cost: ¥1,830,000)
Fiscal Year 2018: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000)
Fiscal Year 2017: ¥9,750,000 (Direct Cost: ¥7,500,000、Indirect Cost: ¥2,250,000)
Fiscal Year 2016: ¥10,790,000 (Direct Cost: ¥8,300,000、Indirect Cost: ¥2,490,000)
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| Outline of Final Research Achievements |
This study aimed to construct a method to achieve efficient motion control by considering the interaction between rigid bodies moving in the soil and the soil with the automation of agricultural work in mind. Specifically, we clarified the relationship between the set path and soil reaction force, proposed a path generation method to reduce the reaction force, conducted an evaluation experiment using experimental equipment, and conducted an experimental verification of the oscillation suppression control using an actual automatic harvester. They are the core technologies of the automatic spinach harvesting system developed by the applicants. These results contribute to the development of automatic control technology for agricultural machinery involving the interaction of soil and rigid body motion.
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