Design and Prototyping of an Interchangeable and Underactuated Tool for Automatic Harvesting

Quaglia, Giuseppe; Tagliavini, Luigi; Colucci, Giovanni; Vorfi, Ardit; Botta, Andrea; Baglieri, Lorenzo

doi:10.3390/robotics11060145

Cited by 5 publications

(2 citation statements)

References 29 publications

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“…Underactuated mechanical systems are less common and have more DOFs than actuators [1,2]. In recent years, the interest in underactuated systems has increased in the field of robotics [3][4][5] and legged locomotion [6,7].…”

Section: Introductionmentioning

confidence: 99%

Motion Planning of Differentially Flat Planar Underactuated Robots

Tonan,

Bottin,

Doria

et al. 2024

Robotics

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Differential flat underactuated robots have fewer actuators than degrees of freedom (DOFs). This characteristic makes it possible to design light and cost-effective robots with great dexterity. The primary challenge associated with these robots lies in effectively controlling the passive joint, in particular, when collisions with obstacles in the workspace have to be avoided. Most of the previous research focused on point-to-point motions without any control on the actual robot trajectory. In this work, a new method is presented to plan trajectories that include one or more via points. In this way, the underactuated robot can avoid the obstacles in the workspace, similarly to traditional fully actuated robots. First, a trajectory planning strategy is analytically described; then, numerical results are presented. The numerical results show the effects of the via points and of the order of the polynomials adopted to define the motion laws. In addition, experimental tests performed on a two-DOF underactuated robot are presented, and their results validate the proposed method.

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Section: Introductionmentioning

confidence: 99%

Motion Planning of Differentially Flat Planar Underactuated Robots

Tonan,

Bottin,

Doria

et al. 2024

Robotics

View full text Add to dashboard Cite

show abstract

“…The results are provided on different trajectories and with moving obstacles along with considerations on controller performance.In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role in expanding the possible application scenarios. Within this context, the design and prototyping of a novel underactuated tool for the harvesting of grapevines is described in [7]. As a use case, the proposed tool is customized for the gripper of the robotic arm mounted on the rover Agri.Q, a service robot conceived for agriculture automation.…”

mentioning

confidence: 99%