Pregled bibliografske jedinice broj: 1131989
Compliant Plant Exploration for Agricultural Procedures With a Collaborative Robot
Compliant Plant Exploration for Agricultural Procedures With a Collaborative Robot // IEEE robotics & automation letters, 6 (2021), 2; 2768-2774 doi:10.1109/LRA.2021.3062301 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 1131989 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Compliant Plant Exploration for Agricultural
Procedures With a Collaborative Robot
Autori
Polic, Marsela ; Car, Marko ; Petric, Frano ; Orsag, Matko
Izvornik
IEEE robotics & automation letters (2377-3766) 6
(2021), 2;
2768-2774
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
Robots, Robot sensing systems, Force, End effectors, Collaboration, Torque
Sažetak
This letter presents a compliant exploration framework based on a collaborative robot Franka Panda that builds a 3D plant stem model. The model is built for agricultural plant treatment procedures without external sensors, as contact forces are estimated from joint torques and robot's dynamic and kinematic model. By devising an impedance-based exploratory control algorithm capable of following an unknown shape, while being provided with only a general direction in which to explore, we eliminate the need for a precise position controller. Our approach is validated through experiments with several mock- up plant stems, showing that the proposed framework is capable of building a satisfactory 3D model of a plant. The method is evaluated against the ground truth model, and compared to the state of the art approach based on an industrial manipulator with external sensors.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Projekti:
HRZZ-UIP-2017-05-4042 - Strukturiran ekološki uzgoj primjenom autonomnih robota u staklenicima (SPECULARIA) (Orsag, Matko, HRZZ ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb,
Sveučilište u Zagrebu
Citiraj ovu publikaciju:
Časopis indeksira:
- Current Contents Connect (CCC)
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus