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Overview of control systems for robotic harvesting of sweet peppers and apples

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dc.contributor.authorShokrian Zeini, Mostafa
dc.contributor.authorShamshiri, Redmond R.
dc.contributor.authorDworak, Volker
dc.contributor.authorKäthner, Jana
dc.contributor.authorHöfner, Nora
dc.contributor.authorNavas, Eduardo
dc.contributor.authorWeltzien, Cornelia
dc.contributor.editorHoffmann, Christa
dc.contributor.editorStein, Anthony
dc.contributor.editorRuckelshausen, Arno
dc.contributor.editorMüller, Henning
dc.contributor.editorSteckel, Thilo
dc.contributor.editorFloto, Helga
dc.date.accessioned2023-02-21T15:14:24Z
dc.date.available2023-02-21T15:14:24Z
dc.date.issued2023
dc.description.abstractAutomated harvesting systems are becoming a crucial part of digital agriculture. Substituting time-consuming and laborious manual harvesting with a continuously automated operation would result in reduced human efforts, which contribute to higher field efficiency. This could be achieved by means of robotic harvesting which comprises robot manipulators, gripping and grasping mechanisms, software implementations. However, the inadequate design of control strategies could cause the agricultural production loss. This paper reviews some of the latest achievements in control systems of agricultural robotics and more specifically in robotic harvesting. The employed robot arms, their degrees of freedom (DOF), and the crops are also considered in this review study. While the control algorithms are being developed with high robustness and fast-response properties, our conclusion is that the performance of controllers could be drastically affected by different parameters such as the number of DOF, estimation accuracy of the robot pose during visual servoing and failure of robot’s inverse kinematics solver.en
dc.identifier.isbn978-3-88579-724-1
dc.identifier.pissn1617-5468
dc.identifier.urihttps://dl.gi.de/handle/20.500.12116/40307
dc.language.isoen
dc.publisherGesellschaft für Informatik e.V.
dc.relation.ispartof43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme
dc.relation.ispartofseriesLecture Notes in Informatics (LNI) - Proceedings, Volume P-330
dc.subjectagricultural robotics
dc.subjectautomated harvesting
dc.subjectrobot manipulator
dc.subjectcontrol algorithms
dc.titleOverview of control systems for robotic harvesting of sweet peppers and applesen
dc.typeText/Conference Paper
gi.citation.endPage548
gi.citation.publisherPlaceBonn
gi.citation.startPage543
gi.conference.date13.-14. Februar 2023
gi.conference.locationOsnabrück

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P330 - 43. GIL-Jahrestagung 2023 - Fokus: Resiliente Agri-Food-Systeme