Development of a novel mechatronic system for mechanical weed ...
Development of a novel mechatronic system for mechanical weed ...
Development of a novel mechatronic system for mechanical weed ...
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Distribution [%]<br />
30<br />
25<br />
20<br />
15<br />
10<br />
5<br />
Duckfoot 3<br />
0<br />
0 20 40 60 80<br />
Distance from the plant centre position [mm]<br />
Distribution [%]<br />
30<br />
25<br />
20<br />
15<br />
10<br />
5<br />
Results and discussion<br />
Duckfoot 1<br />
0<br />
20 40 60 80 100 120<br />
Distance from the plant centre position [mm]<br />
Figure 5.34 Distribution <strong>of</strong> the total number <strong>of</strong> cuts based on their<br />
distance from the plant centre position <strong>for</strong> a series <strong>of</strong><br />
experiments with the experiment with acceleration and<br />
deceleration <strong>of</strong> the <strong>for</strong>ward speed<br />
Another result attained from an experiment with intensive acceleration <strong>of</strong> the<br />
<strong>for</strong>ward speed is shown in Figure 5.35. The aim <strong>of</strong> this experiment was to prove<br />
if the <strong>system</strong> could be stabilised after a significant change <strong>of</strong> the speed. In<br />
graph 2 (Figure 5.35) response <strong>of</strong> the <strong>system</strong> with delay can be observed <strong>for</strong><br />
the first time. The cuts were shifted toward the <strong>for</strong>ward direction endangering<br />
the protected area, what is visible on the highlighted part <strong>of</strong> the trajectory.<br />
113