The Adaptive Step RRT* (AS-RRT*) path planning algorithm for tea-picking robotic arms was proposed as a solution to the autonomy, safety, and efficiency problems inherent to tea-picking robots in tea plantations. The algorithm employs an accumulator-...
To address the challenges of obstacle avoidance and low efficiency by robotic arms during apple picking, this paper proposes an improved informed-RRT* motion planning algorithm to improve path planning performance. By integrating the artificial poten...
In the field of orchard harvesting, this study proposes a collaborative picking strategy for dual-arm robots, aiming to improve efficiency, reduce labor burden, and achieve precise automation. The strategy combines the Multi-Agent Proximal Policy Opt...
Double-arm picking robots are widely used in agricultural production for their high collaborative efficiency. While picking, area planning and collision detection between the mechanical arms is a crucial challenge for the double-arm robot, which need...
Dual-arm robots are expected to perform work in a dynamic environment. One of the most basic tasks that a dual-arm robot does is pick-and-place work. However, this work is more complicated when there are several objects in the robot’s workspace. Addi...
Path planning for picking safflowers is a key component in ensuring the efficient operation of robotic safflower-picking systems. However, existing single-arm picking devices have become a bottleneck due to their limited operating range, and a breakt...
In order to meet the needs of intensive mechanized picking in trellised pear orchards, this paper designed a pick-place integrated end-picker based on the analysis of agronomic characteristics of trellised pear gardens and fruit. In order to realize...
This study aims to help researchers quickly understand the latest research status of kiwifruit picking robots to expand their research ideas. The centralized picking of kiwifruit is confronted with challenges such as high labor intensity and labor sh...
The current development of a robotic arm solution for the manufacturing industry requires performing pick-and-place operations for work pieces varying in size, shape, and color across different stages of manufacturing processes. It aims to reduce or...
This paper proposes an enhanced RRT* algorithm (XN-RRT*) to address the challenges of low path planning efficiency and suboptimal picking success rates in complex pitaya harvesting environments. The algorithm generates sampling points based on normal...
High-precision 6D pose estimation for pick-and-place operations remains a critical problem for industrial robot arms in manufacturing. This study introduces an analytics-based solution for 6D pose estimation designed for a real-world industrial appli...
This article addresses the problem of automating a multi-arm pick-and-place robotic system. The objective is to optimize the execution time of a task simultaneously performed by multiple robots, sharing the same workspace, and determining the order o...
Pick-and-place manipulators have become one of the principal components of almost all manufacturing plants. The process of sizing the number of manipulators required to efficiently carry out pick-and-place tasks depends on the complexities of such pl...
Strawberry harvesting represents a labor-intensive agricultural operation where existing end-effector pose control algorithms frequently exhibit insufficient precision in fruit grasping, often resulting in unintended damage to target fruits. Concurre...
Aiming to solve the problem that most existing apple-picking robots operate with a single arm and that the overall efficiency of the machine needs to be further improved, a prototype of a dual-arm picking robot was built, and its picking operation pl...
The production of the Korla fragrant pear is significant, but the optimal harvesting time is short; therefore, the reasonable use of mechanical arms for harvesting is conducive to promoting the sustainable development of the fragrant pear industry. T...
In order to meet the demand of the intelligent and efficient picking of fresh citrus fruit in a natural environment, a flexible and independent picking method of fresh citrus fruit based on picking pattern recognition was proposed. The convolutional...
Premium tea holds a significant place in Chinese tea culture, enjoying immense popularity among domestic consumers and an esteemed reputation in the international market, thereby significantly impacting the Chinese economy. To tackle challenges assoc...
In view of the low efficiency and slow development of fruit and vegetable picking in China, the picking sequence and obstacle avoidance of clustered crabapples were studied with them as the picking target. The multi-objective picking sequence of crab...
The current harvesting arms used in harvesting robots are developed based on standard products. Due to design constraints, they are unable to effectively avoid obstacles while harvesting tomatoes in tight spaces. To enhance the robot’s capabili...
In this study, we tackle a key scheduling problem in a robotic arm-based food processing system, where multiple conveyors—an infeed conveyor that feeds food items to robotic arms and two tray lane conveyors, on which trays to batch food items a...
A simple and effective method for camera positioning and alignment control for robotic pick-and-place tasks is described here. A parallelogram feature is encoded into each 3D object or target location. To determine the pose of each part and guide the...
This paper presents the design and implementation of an autonomous mobile robot system able to deliver objects from one location to another with minimal hardware requirements. Unlike most existing systems, our robot uses only a single camera—mo...
Commercially viable automated picking in unstructured environments by a robot arm remains a difficult challenge. The problem of robot grasp planning has long been around but the existing solutions tend to be limited when it comes to deploy them in op...
Precise localization of the fruit stem picking point is crucial for robots to achieve efficient harvesting operations. However, in unstructured orchard environments, citrus fruit stems are easily obscured by branches and leaves and affected by factor...
Collaborative control of a dual-arm robot refers to collision avoidance and working together to accomplish a task. To prevent the collision of two arms, the control strategy of a robot arm needs to avoid competition and to cooperate with the other on...
The teleoperation of robot arms can prevent users from working in hazardous environments, but current teleoperation uses a 2D display and controls the end effector of robot arms, which introduces the problem of a limited view and complex operations....
This study presents the design and implementation of a wire-driven, multi-joint robotic arm equipped with a cutting and gripping mechanism for harvesting delicate strawberries, with the goal of reducing labor and costs. The arm is mounted on a liftin...
The implementation of Industry 5.0 necessitates a decrease in the energy consumption of industrial robots. This research investigates energy optimization for optimal motion planning for a dual-arm industrial robot. The objective function for the ener...
Robotic arms with autonomous operation capabilities are currently widely used in real life, such as fruit picking, cargo handling, and workpiece assembly. However, the common autonomous operation methods of the robotic arm have some disadvantages, su...
For the automated robotic picking of bunch-type fruit, the strategy is to roughly determine the location of the bunches, plan the picking route from a remote location, and then locate the picking point precisely at a more appropriate, closer location...
Robotic harvesting has become an urgent need for the development of the apple industry, due to the sharp decline in agricultural labor. At present, harvesting apples using robots in unstructured orchard environments remains a significant challenge. T...
The use of robot arms in various industrial settings has changed the way tasks are completed. However, safety concerns for both humans and robots in these collaborative environments remain a critical challenge. Traditional approaches to visualising s...
This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The f...
Berries are popular by consumers for improving vision, lowering blood sugar, improving circulation, and cardiovascular protection. They are usually small, thin-skinned, and fragile, with inconsistent ripening times. Harvesting robots are able to accu...
To address the issue of automated apple harvesting in orchards, we propose a YOLOv5-RACF algorithm for identifying apples and calculating apple diameters. This algorithm employs the robot operating dystem (ROS) to control the robot’s locomotion...
In the era of rapid development in industry, an automatic production line is the fundamental and crucial mission for robotic pick-place. However, most production works for picking and placing workpieces are still manual operations in the stamping ind...
Programming robots to perform complex tasks is a very expensive job. Traditional path planning and control are able to generate point to point collision free trajectories, but when the tasks to be performed are complex, traditional planning and contr...
(1) Background: The technologies of Industry 4.0 are increasingly promoting an operation of human motion prediction for improvement of the collaboration between workers and robots. The purposes of this study were to fuse the spatial and inertial data...
Conventional assembly methods using robots need to change end-effectors or operate two robot arms for assembly. In this study, we propose a screwdriving gripper that can perform the tasks required for the assembly using a single robot arm. The propos...
This paper presents an adaptive backstepping feedback control design for an unmanned aerial manipulator (UAM) that consists of an unmanned aerial vehicle (UAV) with an attached robotic arm. The effect of the arm is treated as a disturbance force and...
This paper proposes a method for solving the path planning problem for a collaborative robot. The time-optimal, smooth, collision-free B-spline path is obtained by the application of a nature-inspired optimization algorithm. The proposed approach can...
To address the issue of accurately recognizing and locating picking points for tea-picking robots in unstructured environments, a visual positioning method based on RGB-D information fusion is proposed. First, an improved T-YOLOv8n model is proposed,...
In this paper, we present a modelling, dynamic analysis, and controller tuning comparison for a five-degree-of-freedom (DoF) multi-joint robotic arm based on the Lyapunov-based Adaptive Controller (LAC). In most pick-and-place applications of robotic...
The automated harvesting of blueberries using a picking robot places a greater demand on the 3D spatial perception performance, as the robot’s grasping mechanism needs to pick blueberry fruits accurately at specific positions and in particular...
Global fruit production costs are increasing amid intensified labor shortages, driving heightened interest in robotic harvesting technologies. Although multi-arm coordination in harvesting robots is considered a highly promising solution to this issu...
Chili recognition is one of the critical technologies for robots to pick chilies. The robots need locate the fruit. Furthermore, chilies are always planted intensively and their fruits are always clustered. It is a challenge to recognize and locate t...
This paper proposes a stereo matching method enhanced by object detection and instance segmentation results obtained through the use of a deep convolutional neural network. Then, this method is applied to generate a picking plan to solve bin picking...
The 6-DOF Stewart parallel elevation platform serves as the platform for mounting the tea-picking robotic arm, significantly impacting the operational scope, velocity, and harvesting precision of the robotic arm. Utilizing the Stewart setup, a parall...
Future humanoid robots will be widely deployed in our daily lives. Motion planning and control in an unstructured, confined, and human-centered environment utilizing dexterity and a cooperative ability of dual-arm robots is still an open issue. We pr...
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