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dc.contributor.authorShamshiri, Redmond Ramin
dc.contributor.authorHameed, Ibrahim A.
dc.contributor.authorKarkee, Manoj
dc.contributor.authorWeltzien, Cornelia
dc.date.accessioned2019-07-01T09:56:53Z
dc.date.available2019-07-01T09:56:53Z
dc.date.created2019-01-22T14:54:14Z
dc.date.issued2018
dc.identifier.isbn978-953-51-3874-7
dc.identifier.urihttp://hdl.handle.net/11250/2602972
dc.description.abstractIn modern agriculture, there is a high demand to move from tedious manual harvesting to a continuously automated operation. This chapter reports on designing a simulation and control platform in V-REP, ROS, and MATLAB for experimenting with sensors and manipulators in robotic harvesting of sweet pepper. The objective was to provide a completely simulated environment for improvement of visual servoing task through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual equipment. A simulated workspace, including an exact replica of different robot manipulators, sensing mechanisms, and sweet pepper plant, and fruit system was created in V-REP. Image moment method visual servoing with eye-in-hand configuration was implemented in MATLAB, and was tested on four robotic platforms including Fanuc LR Mate 200iD, NOVABOT, multiple linear actuators, and multiple SCARA arms. Data from simulation experiments were used as inputs of the control algorithm in MATLAB, whose outputs were sent back to the simulated workspace and to the actual robots. ROS was used for exchanging data between the simulated environment and the real workspace via its publishand-subscribe architecture. Results provided a framework for experimenting with different sensing and acting scenarios, and verified the performance functionality of the simulator.nb_NO
dc.language.isoengnb_NO
dc.publisherIntechOpennb_NO
dc.relation.ispartofAutomation in Agriculture Securing Food Supplies for Future Generations
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleRobotic Harvesting of Fruiting Vegetables: A Simulation Approach in V-REP, ROS and MATLABnb_NO
dc.typeChapternb_NO
dc.description.versionpublishedVersionnb_NO
dc.identifier.doi10.5772/intechopen.73861
dc.identifier.cristin1663120
dc.description.localcode© 2018 The Author(s). Licensee InTech. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0 which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Redmond R. Shamshiri, Ibrahim A. Hameed, Manoj Karkee and Cornelia Weltzien Additional information is available at the end of the chapter Abstract In modern agriculture, there is a high demand to move from tedious manual harvesting to a continuously automated operation. This chapter reports on designing a simulation and control platform in V-REP, ROS, and MATLAB for experimenting with sensors and manipulators in robotic harvesting of sweet pepper. The objective was to provide a completely simulated environment for improvement of visual servoing task through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual equipment. A simulated workspace, including an exact replica of different robot manipulators, sensing mechanisms, and sweet pepper plant, and fruit system was created in V-REP. Image moment method visual servoing with eye-in-hand configuration was implemented in MATLAB, and was tested on four robotic platforms including Fanuc LR Mate 200iD, NOVABOT, multiple linear actuators, and multiple SCARA arms. Data from simulation experiments were used as inputs of the control algorithm in MATLAB, whose outputs were sent back to the simulated workspace and to the actual robots. ROS was used for exchanging data between the simulated environment and the real workspace via its publishand-subscribe architecture. Results provided a framework for experimenting with different sensing and acting scenarios, and verified the performance functionality of the simulator. Keywords: agricultural robots, automated harvesting, simulation, visual servo control, image processing 1. Introduction Traditional harvesting of fruiting vegetables for fresh market is a labor-intensive task that demands shifting from tedious manual operation to a continuously automated harvesting. © 2018 The Author(s). Licensee InTech. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.nb_NO
cristin.unitcode194,63,55,0
cristin.unitnameInstitutt for IKT og realfag
cristin.ispublishedtrue
cristin.fulltextoriginal


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