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The paper presents an experimental result of a novel contribution to the control engineering problems in manipulation and perception of an agricultural robot. More precisely, in order to overcome the nonlinearity and uncertainty, we design a controller using robust gain-scheduling and -synthesis based on the special characteristic of the robot. At the same time, we emphasize on the initial cost by reduction of an actuator and a sensor. Furthermore, we evaluate the validity of the system by actual field experiments, which is the most important part of the paper.