139


 Position Setpoint Joint Position



 0





 -10

 0 120 240 360 480 600 720
 Time (1/60 sec)

Figure 9.22. Plot of position and position setpoint of joint 1 during a typical fruit search routine.



 40 -
 SJointVelocity
 SVelocity Setpoint
 i 20


 0


 -20


 -40
 0 120 240 360 480 600 720
 Time (1/60 sec)

Figure 9.23. Plot of velocity and velocity setpoint of joint 0 during a typical fruit search
 routine.


 For joint 0, the direction of motion was changed when the joint was within 2.6 deg of the

upper position setpoint of 23.3 deg and the lower position setpoint of -28.4 deg. The smooth

operation of joint 0 during the search routine is shown by the smooth straight lines of Figure

9.20. The alternating motion of joint 1 during the search routine was much smaller than that of

joint 0. The motion of joint 1 was limited by position setpoints of -0.9 deg and -8.2 deg. With

this range, the robot was allowed only limited horizontal motion while the robot was slowly

being pulled forward in the grove. The horizontal motion of the robot during the search routine

was demonstrated by the plot of Figure 9.22 with velocity setpoint switching between 8.1