Semantic Scholar Open Access 2020 378 sitasi

System Design and Control of an Apple Harvesting Robot

Kaixiang Zhang Kyle Lammers Pengyu Chu Zhaojian Li R. Lu

Lihat Sumber DOI

Abstrak

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 an RGB-D camera. A three degree-of-freedom manipulator is then designed with a hybrid pneumatic/motor actuation mechanism to achieve fast and 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 velocity-based control scheme is developed for the manipulator to achieve accurate and agile motion control. Test experiments are conducted to demonstrate the performance of the developed apple harvesting robot.

Topik & Kata Kunci

Computer Science Engineering

Penulis (5)

Kaixiang Zhang

Kyle Lammers

Pengyu Chu

Zhaojian Li

R. Lu

Format Sitasi

APA MLA BibTeX

Zhang, K., Lammers, K., Chu, P., Li, Z., Lu, R. (2020). System Design and Control of an Apple Harvesting Robot. https://doi.org/10.1016/J.MECHATRONICS.2021.102644

Akses Cepat

Lihat di Sumber doi.org/10.1016/J.MECHATRONICS.2021.102644

Informasi Jurnal

Tahun Terbit: 2020
Bahasa: en
Total Sitasi: 378×
Sumber Database: Semantic Scholar
DOI: 10.1016/J.MECHATRONICS.2021.102644
Akses: Open Access ✓