System design and control of an apple harvesting robot |
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Affiliation: | 1. Faculty of Civil and Environment Engineering, Technion, 32000 Haifa, Israel;2. Technion Autonomous Systems Program, 32000 Haifa, Israel;3. Institute of Agricultural Engineering, Agricultural Research Organization, Volcani Center, 50250 Bet-Dagan, Israel;1. Centre for Automation and Robotic Engineering Science (CARES), University of Auckland, Auckland, New Zealand;2. School of Engineering, University of Waikato, Hamilton, New Zealand;3. Robotics Plus Ltd, Newnham Innovation Park, Tauranga, New Zealand;1. Department of Industrial and Systems Engineering, University of Florida, Shalimar, FL 32579, United States;2. Physical Sciences Department, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, United States;3. Department of Agricultural and Biological Engineering, University of Florida, Gainesville, FL 32611, United States;1. Faculty of Science and Technology, Norwegian University of Life Sciences, Ås, Norway;2. Department of Computer Science, University of Minnesota, Minneapolis, USA |
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Abstract: | There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design and motion control of a robotic apple harvesting prototype, which lays a critical foundation for future advancements. Specifically, we develop a deep learning-based fruit detection and localization system using a RGB-D camera. A three degree-of-freedom manipulator is designed with a hybrid pneumatic/motor actuation mechanism to achieve dexterous movements. A vacuum-based end-effector is used for apple detaching. These three components are integrated into a robotic apple harvesting prototype with simplicity, compactness, and robustness. Moreover, a nonlinear control scheme is developed for the manipulator to achieve accurate and agile motion control. Field experiments are conducted to demonstrate the performance of the developed apple harvesting robot. |
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Keywords: | Mechatronic design Motion control Apple harvesting Agricultural robot |
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