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Proceedings Paper

Vision Guidance Of A Robotic Tree Fruit Harvester
Author(s): R. C. Harrell; D. C. Slaughter; P. D. Adsit
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Paper Abstract

A vision-servo system was developed for an R-R-P robotic tree fruit harvester. Real-time two-dimensional fruit location information was provided by a vision system with the camera incorporated in the harvester's end-effector. Simple proportional gain control laws utilized this vision feedback to independently servo the two revolute joints. Systematic adjustments in controller gains, based on robot orientation and position of targeted fruit, were performed to compensate for variations in vision feedback gains. The developed control system was able to maintain consistent vision-servo dynamics during harvest cycles in spite of significant variations in the vision feedback gains.

Paper Details

Date Published: 11 December 1985
PDF: 9 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950844
Show Author Affiliations
R. C. Harrell, University of Florida (United States)
D. C. Slaughter, University of Florida (United States)
P. D. Adsit, University of Florida (United States)

Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

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