The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

Abstract
1. 서 론
2. 모델링
    2.1 밭농업로봇의 다물체 동역학 모델링
    2.2 직진주행 및 자세 제어 알고리즘
3. 해 석
    3.1 연성해석 모델
    3.2 일반노면의 직진주행해석
    3.3 굴곡노면의 주행해석
4. 결론 및 추후연구
References

• 송하준(KETI, Bucheon) | Hajun Song
• 양견모(KIRO, Pohang) | Kyon-Mo Yang
• 오장석(KIRO, Pohang) | Jang-Seok Oh
• 한종부(KRISO, Daejeon) | Jong-Boo Han Corresponding author
• 서갑호(KIRO, Pohang) | Kap-Ho Seo