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

Van Henten, E.J.; Schenk, E.J.; Van Willigenburg, L.G.; Meuleman, J. y 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.

Descripción

Título: Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot
Autor/es:
  • Van Henten, E.J.
  • Schenk, E.J.
  • Van Willigenburg, L.G.
  • Meuleman, J.
  • Barreiro Elorza, Pilar
Tipo de Documento: Artículo
Título de Revista/Publicación: Biosystems Engineering
Fecha: Junio 2010
Volumen: 106
Materias:
Escuela: E.T.S.I. Agrónomos (UPM) [antigua denominación]
Departamento: Ingeniería Rural [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 5029
Identificador DC: http://oa.upm.es/5029/
Identificador OAI: oai:oa.upm.es:5029
Identificador DOI: 10.1016/j.biosystemseng.2010.01.007
URL Oficial: http://www.sciencedirect.com/science/journal/15375110
Depositado por: Memoria Investigacion
Depositado el: 19 Nov 2010 09:37
Ultima Modificación: 20 Abr 2016 14:00
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