Title :
A force/torque sensor-based technique for robot harvesting of fruits and vegetables
Author :
Allotta, Benedetto ; Buttazzo, Giorgio ; Dario, P. ; Quaglia, Francesco
Author_Institution :
ARTS Lab., Scuola Superiore S. Anna, Pisa
Abstract :
In the harvest of many fruits and vegetables, it is important to cut the peduncle at a certain length, and not just to pull the fruit away, because this may damage the plant or the fruit during the harvest. In this paper, a method for the detection of the peduncle of close-to-spherical fruits and vegetables in robot harvesting is presented. An experimental set-up, consisting of a compliant three-finger hand, a 6-axis force/torque sensor and a PUMA 560 robot arm is described, and an implementation of the method is shown
Keywords :
agriculture; force control; robots; torque control; PUMA 560; agriculture; compliant three-finger hand; force/torque sensor-based technique; fruits; harvesting robots; vegetables; Force measurement; Force sensors; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor systems; Shape control; Subspace constraints; Tactile sensors; Torque;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262391
