System design and control of an apple harvesting robot. (November 2021)

• Record Type: Journal Article
• Authors: Zhang, Kaixiang; Lammers, Kyle; Chu, Pengyu; Li, Zhaojian; Lu, Renfu
• Is Part Of: Mechatronics. Volume 79(2021)
• Publication Date: 2021-11
• Subjects: Mechatronic design -- Motion control -- Apple harvesting -- Agricultural robot; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2021.102644
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design and motion control of a robotic apple harvesting prototype, which lays a critical foundation for future advancements. Specifically, we develop a deep learning-based fruit detection and localization system using a RGB-D camera. A three degree-of-freedom manipulator is designed with a hybrid pneumatic/motor actuation mechanism to achieve dexterous movements. A vacuum-based end-effector is used for apple detaching. These three components are integrated into a robotic apple harvesting prototype with simplicity, compactness, and robustness. Moreover, a nonlinear control scheme is developed for the manipulator to achieve accurate and agile motion control. Field experiments are conducted to demonstrate the performance of the developed apple harvesting robot. Highlights: The synergistic development of a robotic apple harvesting prototype is presented. A control strategy is designed by fully exploiting the mechanical structure of the manipulator. The experimental studies validate the design concept and underpin future research.