CONTRIBUTION TO MODELLING THE CABLE-SUSPENDED PARALLEL ROBOT INTENDED FOR APPLICATION IN GREENHOUSES

Ljubinko Kevac, Mirjana Filipovic, and Aleksandar Rakic

Keywords

CPR system in greenhouses, carrier’s position and orientation, kinematic modelling

Abstract

The possibilities and advantages of application of the cablesuspended parallel robot (CPR system) in the process of monitoring and treating the plants in greenhouses are highlighted. This idea has multiple benefits in the process of modernization of plants’ monitoring and treating procedures. The phenomenon of deviation of the position and orientation of CPR system’s carrier in comparison with its idealized motion during the task implementation has been identified. The main contribution of this paper is mathematical definition of the problem of the camera and diffuser carrier position, and orientation of the CPR system used in greenhouses. A 2D solution of the problem has been obtained. Validity of the obtained mathematical solution has been illustrated through one case study using a newly developed software package REMOT (Realistic MOTion of CPR system’s carrier), which was generated in MATLAB.

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