Figure page

4.19. Relationship between position of joint 0 and the A/D value of the position of
 joint 0. ................................................................................................................. 40

4.20. Relationship between position of joint 1 and the A/D value of the position of
 joint 1. ........................................................................................................... 41

4.21. Relationship between position of joint 2 and the A/D value of the position of
 joint 2. ................................................................................................................ 42

4.22. Circuit diagram of the tachometers. ............................................................ 43

5.1. Kinematic frames of the three degree-of-freedom robot. .................................... 46

5.2. Kinematic frames as assigned to the links of the robot. ..................................... 47

5.3. Lens imaging geometry. ............................................................................... 50

5.4. Coordinate frame representation of the camera frame and the fruit position
 with respect to the base frame. ................................................................... 52

6.1. Open-loop hydraulic servo system. ..................................................................... 56

6.2. Reduced block diagram of the open-loop system. .......................................... 56

6.3. Block diagram of the open-loop system with external torque load ...................... 58

6.4. Typical response of joint 0 of the orange-picking robot to a step input of 1200
 D/A bits with joint 2 centered in the Hooke joint. ............................................... 61

6.5. Typical response joint 1 of the orange-picking robot to a step input of -500 D/A
 bits with joint 2 centered in the Hooke Joint. .................................... ........... 63

6.6. Typical response of joint 2 of the orange-picking robot to a step input of 750 D/A
 bits. ................................................................................................................... 65

6.7. Responses of joint 0 to a step input: (a) actual, (b) simulated.
 h = 32.95 rad/sec, Sh = 0.30, Kv = 0.036 (deg/sec)/(D/A word) ........................... 69

6.8. Responses of joint 0 to a step input: (a) actual, (b) simulated.
 h = 17.36 rad/sec, 0h = 0.16, Kv = 0.032 (deg/sec)/(D/A word) ........................... 70

6.9. Responses of joint 0 to a step input: (a) actual, (b) simulated.
 h = 16.54 rad/sec, h = 0.31, Kv = 0.044 (deg/sec)/(D/A word) ............................. 71

6.10. Responses of joint 1 to a step input: (a) actual, (b) simulated.
 = 31.87 rad/sec, 8h = 0.17, K, = 0.055 (deg/sec)/(D/A word) ........................... 72

6.11. Responses of joint 1 to a step input: (a) actual, (b) simulated.
 h = 22.02 rad/sec, h = 0.31, Kv = 0.056 (deg/sec)/(D/A word) ........................... 73

6.12. Responses of joint 1 to a step input: (a) actual, (b) simulated.
 (O = 21.47 rad/sec, 8h = 0.22, Kv = 0.056 (deg/sec)/(D/A word) ........................... 74

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