Development of Continuum Robot Arm and Gripper for Harvesting Cherry Tomatoes
Source abstract
Abstract
Smart farming technology is becoming of the actual topics in the modern world of technology. Contemporary farming technology expands robot applications by using AI for the recognition of variable patterns. Moreover, the agriculture field demands a safety robot, due to the fragile surrounded confined space and it must be adaptable to extremely constrained working environments. Therefore, this research paper presents a novel tomato harvesting robot arm based on a continuum robot structure. The proposed continuum robot arm flexible backbone structure provides safety and efficient work in a confined workspace. This research paper consists of three parts: the first part of the paper contains the robot design and the newly designed tomato harvesting gripper tool. The second part of the paper describes the machine learning part for detecting matured tomatoes and the distance measuring technique with a single camera. The third part of the research paper explains robot kinematics and control algorithms. The final part of the research paper explains the experimental results. As a result of the conducted experiment, the tomato harvesting speed of the proposed robot was 56 s for a single tomato. Meanwhile, the tomato recognition accuracy was 96 percent.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Smart Agriculture and AI · Modular Robots and Swarm Intelligence
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Information Science, Kazakh National University, Al-Farabi 71, Almaty 050040, Kazakhstan
Department of Robotics, Nazarbayev University, Nur-Sultan 010000, Kazakhstan
Department of Mechanical Engineering, Tokai University, Hiratsuka 151-8677, Japan
Department of Precision Engineering, Tokai University, Hiratsuka 151-8677, Japan
Laboratory of Artificial Intelligence and Robotics, Institute of Information and Computational Technologies, Pushkin 125, Almaty 050000, Kazakhstan
Funding
science committee of the ministry of education
References (36)
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