| Autor: |
Yi-Rong Li, Wei-Yuan Lien, Zhi-Hong Huang, Chun-Ta Chen |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
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| Zdroj: |
Actuators, Vol 12, Iss 6, p 253 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2076-0825 |
| DOI: |
10.3390/act12060253 |
| Popis: |
This paper aims to develop a visual servo control of a robotic manipulator for cherry tomato harvesting. In the robotic manipulator, an RGB-depth camera was mounted to the end effector to acquire the poses of the target cherry tomatoes in space. The eye-in-hand-based visual servo controller guides the end effector to implement eye–hand coordination to harvest the target cherry tomatoes, in which a hybrid visual servo control method (HVSC) with the fuzzy dynamic control parameters was proposed by combining position-based visual servo (PBVS) control and image-based visual servo (IBVS) control for the tradeoff of both performances. In addition, a novel cutting and clipping integrated mechanism was designed to pick the target cherry tomatoes. The proposed tomato-harvesting robotic manipulator with HVSC was validated and evaluated in a laboratory testbed based on harvesting implementation. The results show that the developed robotic manipulator using HVSC has an average harvesting time of 9.40 s/per and an average harvesting success rate of 96.25% in picking cherry tomatoes. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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