Automated Suckering of Vines with a Mobile Robot and a Torque-controlled Suckering Tool

Stuhne, Dario; Vatavuk, Ivo; Hrabar, Ivan; Vasiljević, Goran; Kovačić, Zdenko

doi:10.1109/sst55530.2022.9954661

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…In our previous work, a robotic solution to this problem was proposed, using a mobile robot and a tool similar to the flailing mechanism used on tractors [ 4 ]. In this paper, we propose a different approach to this task, utilizing a robotic arm with a direct drive brush-shaped tool as the robot arm end-effector ( Figure 2 ).…”

Section: Introductionmentioning

confidence: 99%

Direct Drive Brush-Shaped Tool with Torque Sensing Capability for Compliant Robotic Vine Suckering

Vatavuk

Stuhne

Vasiljević

et al. 2023

Sensors

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In this paper, we present a direct drive brush-shaped tool developed for the use of robotic vine suckering. Direct drive design philosophy allows for precise and high bandwidth control of the torque exerted by the brush. Besides limiting the torque exerted onto the plant, this kind of design philosophy allows the brush to be used as a torque sensor. High bandwidth torque feedback from the tool is used to enable a position controlled robot arm to perform the suckering task without knowing the exact position and shape of the trunk of the vine. An experiment was conducted to investigate the dependency of the applied torque on the overlap between the brush and the obstacle. The results of the experiment indicate a quadratic relationship between torque and overlap. This quadratic function is estimated and used for compliant trunk shape following. A trunk shape following experiment demonstrates the utility of the presented tool to be used as a sensor for compliant robot arm control. The shape of the trunk is estimated by tracking the motion of the robot arm during the experiment.

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Section: Introductionmentioning

confidence: 99%

Direct Drive Brush-Shaped Tool with Torque Sensing Capability for Compliant Robotic Vine Suckering

Vatavuk

Stuhne

Vasiljević

et al. 2023

Sensors

Self Cite

View full text Add to dashboard Cite

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Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution

Hrabar

Kovačić

2023

Machines

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Although robotic systems have found their place in agriculture, there are still many challenges, especially in the area of localization in semi-structured environments. A robotic system has been developed and tested to perform various tasks in the steep vineyards of the Mediterranean region. In this paper, we describe a method for vine trunk localization, based solely on the visual recognition of vine trunks by neural networks fed by an RGB camera. Assuming that the height of the first wire in the vineyard is known, the proposed method is used to determine the location of vines in the immediate vicinity of the all-terrain mobile manipulator—ATMM-VIV—needed for spraying and bud suckering. The experiment was conducted in a slightly inclined vineyard to evaluate the proposed localization method.

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Automated Suckering of Vines with a Mobile Robot and a Torque-controlled Suckering Tool

Cited by 2 publications

References 11 publications

Direct Drive Brush-Shaped Tool with Torque Sensing Capability for Compliant Robotic Vine Suckering

Direct Drive Brush-Shaped Tool with Torque Sensing Capability for Compliant Robotic Vine Suckering

Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution

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