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GEOMETRIC PERFORMANCE INDICES FOR ANALYSIS AND SYNTHESIS OF MANIPULATORS FOR ROBOTIC HARVESTING.

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Title: GEOMETRIC PERFORMANCE INDICES FOR ANALYSIS AND SYNTHESIS OF MANIPULATORS FOR ROBOTIC HARVESTING.
Authors: Sivaraman, B.1,2 babu@ufl.edu, Burks, T. F.3,4
Source: Transactions of the ASABE. Sep/Oct2006, Vol. 49 Issue 5, p1589-1597. 9p. 7 Diagrams, 3 Charts, 6 Graphs.
Subjects: Harvesting, Robotics, Trees, Fruit, Automation
Abstract: The application of robotics in uncontrolled field environments is still in the developmental stages, unlike its counterparts in industrial automation. One agricultural task with high potential for the application of robotics is tree fruit harvesting. Manipulators with a serial (open-chain) configuration lend themselves to this application. The geometric configuration selection, which dictates the manipulator's workspace, dexterity, and geometric singularity- avoidance capability, takes precedence in the initial design of a harvesting robot. Other task performance demands, such as the manipulator's load capacity, speed, stiffness, and accuracy, can be optimized once a suitable configuration is selected. Although the geometric performance indices for serially configured robots are well discussed in the literature, there has been minimal work in effectively applying these performance criteria to the selection of a suitable configuration of an agricultural robot. In this article, the primary performance indices are identified and applied to the selection and analysis of tree fruit harvesting robot configurations. [ABSTRACT FROM AUTHOR]
Copyright of Transactions of the ASABE is the property of American Society of Agricultural & Biological Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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  Data: GEOMETRIC PERFORMANCE INDICES FOR ANALYSIS AND SYNTHESIS OF MANIPULATORS FOR ROBOTIC HARVESTING.
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  Data: <searchLink fieldCode="AR" term="%22Sivaraman%2C+B%2E%22">Sivaraman, B.</searchLink><relatesTo>1,2</relatesTo><i> babu@ufl.edu</i><br /><searchLink fieldCode="AR" term="%22Burks%2C+T%2E+F%2E%22">Burks, T. F.</searchLink><relatesTo>3,4</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22Transactions+of+the+ASABE%22">Transactions of the ASABE</searchLink>. Sep/Oct2006, Vol. 49 Issue 5, p1589-1597. 9p. 7 Diagrams, 3 Charts, 6 Graphs.
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  Data: <searchLink fieldCode="DE" term="%22Harvesting%22">Harvesting</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Trees%22">Trees</searchLink><br /><searchLink fieldCode="DE" term="%22Fruit%22">Fruit</searchLink><br /><searchLink fieldCode="DE" term="%22Automation%22">Automation</searchLink>
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  Label: Abstract
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  Data: The application of robotics in uncontrolled field environments is still in the developmental stages, unlike its counterparts in industrial automation. One agricultural task with high potential for the application of robotics is tree fruit harvesting. Manipulators with a serial (open-chain) configuration lend themselves to this application. The geometric configuration selection, which dictates the manipulator's workspace, dexterity, and geometric singularity- avoidance capability, takes precedence in the initial design of a harvesting robot. Other task performance demands, such as the manipulator's load capacity, speed, stiffness, and accuracy, can be optimized once a suitable configuration is selected. Although the geometric performance indices for serially configured robots are well discussed in the literature, there has been minimal work in effectively applying these performance criteria to the selection of a suitable configuration of an agricultural robot. In this article, the primary performance indices are identified and applied to the selection and analysis of tree fruit harvesting robot configurations. [ABSTRACT FROM AUTHOR]
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  Group: Ab
  Data: <i>Copyright of Transactions of the ASABE is the property of American Society of Agricultural & Biological Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Text: English
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        PageCount: 9
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      – SubjectFull: Harvesting
        Type: general
      – SubjectFull: Robotics
        Type: general
      – SubjectFull: Trees
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      – SubjectFull: Fruit
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              Text: Sep/Oct2006
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