On a new reconfigurable arms for vegetable cropping

This paper proposes a new approach and modeling of hydraulic arms for vegetable cropping. First, we show the actual nonlinearity of hydraulic arms experimentally via the subspace system identification. Second, we give a new canonical form of hydraulic arms based on Casimirs and confirm the validity by experiments. Furthermore, we propose an additional nonlinear component for the internal structure and confirm the validity by experiments.