Agriculture Reference
In-Depth Information
It has been proposed that before any successful robotic development can be real-
ized, the technological barriers that have prevented past efforts to succeed must
first be overcome. Consequently, a robotic harvesting development test bed was
conceived as Figure 7.32 illustrates. The purpose of the test bed was to create a
development environment in which end effectors, manipulators, control approaches,
and sensory technology can be developed, and performance can be validated. The
test bed consists of the fruit sensing system (machine vision and ranging sensor), a
macropositioning system, a 7-DOF harvesting manipulator, an end effector equipped
with force torque sensor, and rack-mount dual processors for control development,
with all of these installed in a retrofitted panel van with a pull-behind trailer. In
addition, the van is equipped with air conditioning, a clean electrical generator for
the control room, and a see-through viewing window. Meanwhile, the trailer was
equipped with its own electric generator, a hydraulic power supply for the 2-DOF
7 DOF manipulator
(Robotics Research Inc. K-1207)
Power supply
-Pneumatic power supply
-Hydraulic power supply
-Electric generator
Control room
-PC for manipulator control
-PC for robotic harvesting control
-PC for communication/sensors
-Air-conditioned/viewing window
2 DOF
Platform
Citrus robot
ic va
n
(a)
Manipulator
Manipulator
Control room
Control Room
2 DOF platform
2 DOF Platform
Trailer
Trailer
(b)
FIGURE 7.32
Robotic harvesting development test bed. (a) Setup of test bed. (b) Photo of
robotic test bed in the orchard.
