Symbolic derivation of governing equations for dual-arm mobile manipulators used in fruit-picking and the pruning of tall trees

Korayem, M. H.; Shafei, A. M.; Seidi, Ebrahim

doi:10.1016/j.compag.2014.04.013

Cited by 41 publications

(13 citation statements)

References 8 publications

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“…Even though no machine has been developed for robotic pruning for tree fruit crops, some progress has been made in the development of robotics technology for pruning more complex canopies such as apple and cherry trees. As discussed above, most studies on robotic fruit tree pruning focus on developing machine vision system for the branch identification and reconstruction, while few studies focus on the robotic arm for simulation of pruning task [113,114]. Furthermore, as plenty of robotic systems have been developed for pruning grape vines as well as picking fruits, it would be possible to develop an effective robotic pruner for tree fruit crops when the tree architecture is getting more uniform.…”

Section: Automated Pruning Systemmentioning

confidence: 99%

Sensing and Automation in Pruning of Apple Trees: A Review

Schupp

2018

Agronomy

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Pruning is one of the most important tree fruit production activities, which is highly dependent on human labor. Skilled labor is in short supply, and the increasing cost of labor is becoming a big issue for the tree fruit industry. Meanwhile, worker safety is another issue in the manual pruning. Growers are motivated to seek mechanical or robotic solutions for reducing the amount of hand labor required for pruning. Identifying tree branches/canopies with sensors as well as automated operating pruning activity are the important components in the automated pruning system. This paper reviews the research and development of sensing and automated systems for branch pruning in apple production. Tree training systems, pruning strategies, 3D structure reconstruction of tree branches, and practice mechanisms or robotics are some of the developments that need to be addressed for an effective tree branch pruning system. Our study summarizes the potential opportunities for automatic pruning with machine-friendly modern tree architectures, previous studies on sensor development, and efforts to develop and deploy mechanical/robotic systems for automated branch pruning. We also describe two examples of qualified pruning strategies that could potentially simplify the automated pruning decision and pruning end-effector design. Finally, the limitations of current pruning technologies and other challenges for automated branch pruning are described, and possible solutions are discussed.

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Section: Automated Pruning Systemmentioning

confidence: 99%

Sensing and Automation in Pruning of Apple Trees: A Review

Schupp

2018

Agronomy

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“…As we discussed earlier, most of the studies for robotic fruit tree pruning focused on developing machine vision system for the branch identification and reconstruction. While, a few studies focused on the robotic arm for simulation of pruning task Preprints (www.preprints.org) | NOT PEER-REVIEWED | Posted: 24 July 2018 doi:10.20944/preprints201807.0438.v1 (Korayem et al, 2014;Megalingam et al, 2016). Furthermore, as plenty of robotic systems have been developed for pruning grape vines as well as picking fruits, it would be possible to develop an effective robotic pruner for tree fruit crops when the tree architecture is getting more uniform.…”

Section: Robotic Pruning Systemmentioning

confidence: 99%

Sensing and Automation in Pruning of Tree Fruit Crops: A Review

Schupp¹

2018

Preprint

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Pruning is one of the most important tree fruit production activities, which is highly dependent on human labor. Skilled labor is in short supply, and the increasing cost of labor is becoming a big issue for the tree fruit industry. Growers are motivated to seek mechanical or robotic solutions for reducing the amount of hand labor required for pruning. This paper reviews the research and development of sensing and automated systems for branch pruning for tree fruit production. Horticultural advancements, pruning strategies, 3D structure reconstruction of tree branches, as well as practice mechanisms or robotics are some of the developments that need to be addressed for an effective tree branch pruning system. Our study summarizes the potential opportunities for automatic pruning with machine-friendly modern tree architectures, previous studies on sensor development, and efforts to develop and deploy mechanical/robotic systems for automated branch pruning. We also describe two examples of qualified pruning strategies that could potentially simplify the automated pruning decision and pruning end-effector design.  Finally, the limitations of current pruning technologies and other challenges for automated branch pruning are described, and possible solutions are discussed.

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“…The great mobility of the wheeled base and the dexterous manipulation abilities of the mechanical arm boost the operational functionality of these types of robotic systems, so they are extensively used in various applications. 1–3 However, the dynamic modeling of such systems is further complicated by the effects of dynamic coupling between their nonholonomic mobile platform and holonomic mechanical arm. Furthermore, by increasing the number of links in a mobile robotic manipulator, the manual derivation of the system’s dynamic motion equations becomes more difficult and time-consuming.…”

Section: Introductionmentioning

confidence: 99%

A novel recursive formulation for dynamic modeling and trajectory tracking control of multi-rigid-link robotic manipulators mounted on a mobile platform

Shafei

Mirzaeinejad

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article establishes an innovative and general approach for the dynamic modeling and trajectory tracking control of a serial robotic manipulator with n-rigid links connected by revolute joints and mounted on an autonomous wheeled mobile platform. To this end, first the Gibbs–Appell formulation is applied to derive the motion equations of the mentioned robotic system in closed form. In fact, by using this dynamic method, one can eliminate the disadvantage of dealing with the Lagrange Multipliers that arise from nonholonomic system constraints. Then, based on a predictive control approach, a general recursive formulation is used to analytically obtain the kinematic control laws. This multivariable kinematic controller determines the desired values of linear and angular velocities for the mobile base and manipulator arms by minimizing a point-wise quadratic cost function for the predicted tracking errors between the current position and the reference trajectory of the system. Again, by relying on predictive control, the dynamic model of the system in state space form and the desired velocities obtained from the kinematic controller are exploited to find proper input control torques for the robotic mechanism in the presence of model uncertainties. Finally, a computer simulation is performed to demonstrate that the proposed algorithm can dynamically model and simultaneously control the trajectories of the mobile base and the end-effector of such a complicated and high-degree-of-freedom robotic system.

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Symbolic derivation of governing equations for dual-arm mobile manipulators used in fruit-picking and the pruning of tall trees

Cited by 41 publications

References 8 publications

Sensing and Automation in Pruning of Apple Trees: A Review

Sensing and Automation in Pruning of Apple Trees: A Review

Sensing and Automation in Pruning of Tree Fruit Crops: A Review

A novel recursive formulation for dynamic modeling and trajectory tracking control of multi-rigid-link robotic manipulators mounted on a mobile platform

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