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Conference Paper: Hand-arm coordination for a tomato harvesting robot based on commercial manipulator

TitleHand-arm coordination for a tomato harvesting robot based on commercial manipulator
Authors
Issue Date2013
Citation
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, p. 2715-2720 How to Cite?
AbstractAn executive system of tomato harvesting robot was constructed by integrating self-designed end-effector with commercial Motoman manipulator. To communicate the enclosed controller JRC of manipulator with PMAC controller of end-effector, statements in programs of both PComm32PRO and WINCAPS were used to set digital input/output by each other through two relays and certain condition judging statements in programs were monitor. Alternating and composite coordinative control modes were both realized with this method. Experiment results indicated that success rate of harvesting for alternating mode and composite mode were 70.0% and 83.3%, respectively. Average cycle time for alternative mode was 6.2 sec, compared with 6.0 sec for composite mode. Feasibility of hand-arm coordination based on commercial manipulator was proved, while highly integration of the control system need to be focused in further research. © 2013 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213400

 

DC FieldValueLanguage
dc.contributor.authorLiu, Jizhan-
dc.contributor.authorLi, Zhiguo-
dc.contributor.authorWang, Fengyun-
dc.contributor.authorLi, Pingping-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:07:09Z-
dc.date.available2015-07-28T04:07:09Z-
dc.date.issued2013-
dc.identifier.citation2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, p. 2715-2720-
dc.identifier.urihttp://hdl.handle.net/10722/213400-
dc.description.abstractAn executive system of tomato harvesting robot was constructed by integrating self-designed end-effector with commercial Motoman manipulator. To communicate the enclosed controller JRC of manipulator with PMAC controller of end-effector, statements in programs of both PComm32PRO and WINCAPS were used to set digital input/output by each other through two relays and certain condition judging statements in programs were monitor. Alternating and composite coordinative control modes were both realized with this method. Experiment results indicated that success rate of harvesting for alternating mode and composite mode were 70.0% and 83.3%, respectively. Average cycle time for alternative mode was 6.2 sec, compared with 6.0 sec for composite mode. Feasibility of hand-arm coordination based on commercial manipulator was proved, while highly integration of the control system need to be focused in further research. © 2013 IEEE.-
dc.languageeng-
dc.relation.ispartof2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013-
dc.titleHand-arm coordination for a tomato harvesting robot based on commercial manipulator-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO.2013.6739884-
dc.identifier.scopuseid_2-s2.0-84898817136-
dc.identifier.spage2715-
dc.identifier.epage2720-

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