Feedback Control for Tillage Tool Angle of Home-Garden Robot

Abstract

In this paper, a small tillage robot for home garden, the state of the art in mechanization and automation of agricultural work, is developed and derived the link mechanism using the feeding angle position, force and torque. The feedback controller design is considered using PID controller for tillage angle and tested the Simulink model of a home garden robot. The prototype experiment that can contribute to valid for the proposed model has also introduced. As the experimental results, it can be ensuring for the convenience, safety, and multi-functionality of cultivating works in home gardens, limited spaces.