Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot

Van Henten, E.J. and Schenk, E.J. and Van Willigenburg, L.G. and Meuleman, J. and Barreiro Elorza, Pilar (2010). Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot. "Biosystems Engineering", v. 106 (n. 2); pp. 112-124. ISSN 1537-5110. https://doi.org/10.1016/j.biosystemseng.2010.01.007.

Description

Title: Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot
Author/s:
  • Van Henten, E.J.
  • Schenk, E.J.
  • Van Willigenburg, L.G.
  • Meuleman, J.
  • Barreiro Elorza, Pilar
Item Type: Article
Título de Revista/Publicación: Biosystems Engineering
Date: June 2010
ISSN: 1537-5110
Volume: 106
Subjects:
Faculty: E.T.S.I. Agrónomos (UPM) [antigua denominación]
Department: Ingeniería Rural [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator. Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming problem and solved with a Genetic Algorithm (GA). Although solutions were easily obtained, the considerable calculation time needed to solve the problem prevented on-line implementation. To circumvent this problem, a second, less generic, approach was developed which consisted of a mixed numerical-analytic solution of the inverse kinematics problem exploiting the particular structure of the P6R manipulator. Using the latter approach, calculation time was considerably reduced. During the early stages of the cucumber-harvesting project, this inverse kinematics algorithm was used off-line to evaluate the ability of the robot to harvest cucumbers using 3D-information obtained from a cucumber crop in a real greenhouse. Thereafter, the algorithm was employed successfully in a functional model of the cucumber harvester to determine if cucumbers were hanging within the reachable workspace of the robot and to determine a collision-free harvest posture to be used for motion control of the manipulator during harvesting. The inverse kinematics algorithm is presented and demonstrated with some illustrative examples of cucumber harvesting, both off-line during the design phase as well as on-line during a field test.

More information

Item ID: 5029
DC Identifier: http://oa.upm.es/5029/
OAI Identifier: oai:oa.upm.es:5029
DOI: 10.1016/j.biosystemseng.2010.01.007
Official URL: http://www.sciencedirect.com/science/journal/15375110
Deposited by: Memoria Investigacion
Deposited on: 19 Nov 2010 09:37
Last Modified: 20 Apr 2016 14:00
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