Agricultural Robot with 8 Degrees of Freedom (I) : Trial Manufacture of 8 DOF Manipulator

8 degrees of freedom manipulator which articulated manipulator and polar coordinates manipulator were combined was made as a trial. The size of the manipulator was 2100mm in length, 540mm in width, 800mm in height from ground to shoulder joint, and weighed 200 kg. Fruit approaching experiment and plant pulling experiment were done in order to investigate the effectiveness of the redundant mechanism of the manipulator. From the results, it was observed that the manipulator could approach to the objects avoiding the obstacles because of the redundance, and that it could be used form many objects.