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Design and control of a mobile manipulator for weed control

Abstract : This paper concerns the design of a non-chemical weed controller for vegetable cropping. Electrical weed control seems to be the most appropriate method. Local application, short treatment time and easy armature make it possible to use it as tool for a robotized arm, fixed on a tracked mobile platform. Such a combination of a mobile and a robotized arm is known as a mobile manipulator. An adapted mechanical structure is chosen and the different constraints impose an intelligent control structure which permits to eliminate the weeds while advancing at tractor speed.
Mots-clés : CEMAGREF
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Conference papers
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Contributor : Migration Irstea Publications <>
Submitted on : Thursday, May 14, 2020 - 4:13:09 PM
Last modification on : Thursday, November 12, 2020 - 12:54:03 PM


  • HAL Id : hal-02574070, version 1
  • IRSTEA : PUB00000460



Pierre Thompson, M. Rombaut, Gilles Rabatel, François Pierrot, Alain Liégeois, et al.. Design and control of a mobile manipulator for weed control. 7th International Conference on Advanced Robotics (ICAR), Sep 1995, Sant Feliu de Guixols, Spain. pp.933-938. ⟨hal-02574070⟩



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