Optimal manipulator design for a cucumber harvesting robot

Henten, E.J. van; Slot, D. A. Van't; Hol, C.W.J.; Willigenburg, L.G. van

doi:10.1016/j.compag.2008.11.004

Cited by 115 publications

(66 citation statements)

References 15 publications

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“…A field test of the robot was reported by Van Henten, . Optimal redesign of the manipulator of the harvester was addressed by Van Henten, Van Willigenburg, and Van't Slot (2009). This paper focuses on one particular issue of the cucumber-harvesting robot that has not been reported so far, namely the calculation of the collision-free inverse kinematics of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot

Henten

Schenk²,

Willigenburg

et al. 2010

Biosystems Engineering

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The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator. Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming problem and solved with a Genetic Algorithm (GA). Although solutions were easily obtained, the considerable calculation time needed to solve the problem prevented on-line implementation. To circumvent this problem, a second, less generic, approach was developed which consisted of a mixed numerical-analytic solution of the inverse kinematics problem exploiting the particular structure of the P6R manipulator. Using the latter approach, calculation time was considerably reduced. During the early stages of the cucumber-harvesting project, this inverse kinematics algorithm was used off-line to evaluate the ability of the robot to harvest cucumbers using 3D-information obtained from a cucumber crop in a real greenhouse. Thereafter, the algorithm was employed successfully in a functional model of the cucumber harvester to determine if cucumbers were hanging within the reachable workspace of the robot and to determine a collision-free harvest posture to be used for motion control of the manipulator during harvesting. The inverse kinematics algorithm is presented and demonstrated with some illustrative examples of cucumber harvesting, both off-line during the design phase as well as on-line during a field test.

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Section: Introductionmentioning

confidence: 99%

Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot

Henten

Schenk²,

Willigenburg

et al. 2010

Biosystems Engineering

Self Cite

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“…In general, this approach solves a large optimization problem that minimizes a performance criterion while satisfying kinematic and dynamic constraints. The task-based design optimization has been widely applied to manipulators [22,5,28] and parallel manipulators [17,7,30] for reaching desired workspace and avoiding joint singularities. However, there exist only a few studies on under-actuated robots, such as pipe-cleaning robots [15], stair-climbing mobile robots [16], virtual creatures [29,10], or quadrupeds [12] due to complexity of required models.…”

Section: Related Workmentioning

confidence: 99%

Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem

Coros

Alspach

et al. 2017

Robotics: Science and Systems XIII

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Abstract-We present a novel computational approach to optimizing the morphological design of robots. Our framework takes as input a parameterized robot design and a motion plan consisting of trajectories for end-effectors, as well as optionally, for its body. The algorithm we propose is used to optimize design parameters, namely link lengths and the placement of actuators, while concurrently adjusting motion parameters such as joint trajectories, actuator inputs, and contact forces. Our key insight is that the complex relationship between design and motion parameters can be established via sensitivity analysis if the robot's movements are modeled as spatio-temporal solutions to optimal control problems. This relationship between form and function allows us to automatically optimize robot designs based on specifications expressed as a function of range of motion or actuator forces. We evaluate our model by computationally optimizing two simulated robots that employ linear actuators: a manipulator and a large quadruped. We further validate our framework by optimizing the design of a small quadrupedal robot and testing its performance using a hardware implementation.

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“…Researchers have been working on harvesting machine for automation since 1960s [3,4,5]. Since then, there has been much research undergoing in many countries, such as Japan, America, Netherlands, France [6][7][8][9][10][11][12][13][14]. While in China, much work on harvesting robot has begun in the late 1990s, and many harvesting robots like the strawberry harvesting robot [15] and the cucumber harvesting robot [16] have been developed.…”

Section: Introductionmentioning

confidence: 99%

Control Study of the Harvesting Robot in Virtual Environment

Zou¹,

Song²,

Zou³

et al. 2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)

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Abstract-Aiming at the challenge of intelligent control of harvesting robot, this study firstly introduced the concept of the harvesting behavior and its basic behaviors, and based on those concepts the behavior knowledge database was established as a library of the functions of the basic behaviors. Secondly, a model of behavior control was proposed based on the vision sensors, and the model includes the weight coefficients ω and the time sequence coefficient T which could provide the possibility of combining the different basic behaviors in the behavior knowledge database. Thirdly, an intelligent simulation system of the behavior control was developed. Finally, preliminary tests in laboratory were carried out to testify the simulation system and the control system.

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Optimal manipulator design for a cucumber harvesting robot

Cited by 115 publications

References 15 publications

Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot

Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot

Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem

Control Study of the Harvesting Robot in Virtual Environment

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