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In this paper, we propose a manipulation system for agricultural robots that handle heavy materials. The structural systems of a mobile platform and a manipulator are selected and designed after proposing new knowledge about agricultural robots. Also, the control systems for these structural systems are designed in the presence of parametric perturbation and uncertainty while avoiding conservative results. The validity of both the structural and control systems is confirmed by conducting watermelon harvesting experiments in an open field. Furthermore, an explicit design procedure is confirmed for both the structural and control systems and three key design tools are clarified.

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This paper reveals a new simplicity of a nominal hydraulic cylinder model whose original representation suffers from too many physical parameters. The eight-dimensional (8-D) parameter space in the original representation is reduced to a 3-D parameter space in the proposed nondimensional representation while preserving the parametric structure. To clarify comprehensive relations between the nonlinear dynamics and many physical parameters, an advanced direct search approach is suggested. More precisely, we can repeat the fast computation of the nonlinear dynamics and the updates of only three parameters without verifying any new simulator. The efficient visualization of the numerical solutions presents the best possible result corresponding to the analytical solution.

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