2002 · 22 citations · 5 references
EngineeringMechanical EngineeringRobotics EngineeringRobot KinematicsRoboticsVegetable ScienceForce SensingFruit HarvestingHarvesting RobotsMechanical HarvestingRobot ManipulatorsRobotic HarvestingForce-torque SensingForce-torque Sensor IntegrationFruit DetectionHarvesting RoboticsMechanical Fruit HarvestingRobotic Fruit HarvestingRobotic Harvesting Of VegetablesVegetable Harvesting Robots
In the harvest of many fruits and vegetables, it is important to cut the peduncle at a certain length, and not just to pull the fruit away, because this may damage the plant or the fruit during the harvest. In this paper, a method for the detection of the peduncle of close-to-spherical fruits and vegetables in robot harvesting is presented. An experimental set-up, consisting of a compliant three-finger hand, a 6-axis force/torque sensor and a PUMA 560 robot arm is described, and an implementation of the method is shown.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
5
Magali: a self-propelled robot to pick apples
A.G. D'Esnon, Gilles Rabatel, R. Pellenc et al. · 1987 · 54 citations
Engineering, Mechanical Engineering, Robotics Engineering +5