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Pregled bibliografske jedinice broj: 1131989

Compliant Plant Exploration for Agricultural Procedures With a Collaborative Robot


Polic, Marsela; Car, Marko; Petric, Frano; Orsag, Matko
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)


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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

Profili:

Avatar Url Matko Orsag (autor)

Avatar Url Marsela Polić (autor)

Avatar Url Marko Car (autor)

Avatar Url Frano Petric (autor)

Poveznice na cjeloviti tekst rada:

doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Polic, Marsela; Car, Marko; Petric, Frano; Orsag, Matko
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)
Polic, M., Car, M., Petric, F. & Orsag, M. (2021) Compliant Plant Exploration for Agricultural Procedures With a Collaborative Robot. IEEE robotics & automation letters, 6 (2), 2768-2774 doi:10.1109/LRA.2021.3062301.
@article{article, author = {Polic, Marsela and Car, Marko and Petric, Frano and Orsag, Matko}, year = {2021}, pages = {2768-2774}, DOI = {10.1109/LRA.2021.3062301}, keywords = {Robots, Robot sensing systems, Force, End effectors, Collaboration, Torque}, journal = {IEEE robotics and automation letters}, doi = {10.1109/LRA.2021.3062301}, volume = {6}, number = {2}, issn = {2377-3766}, title = {Compliant Plant Exploration for Agricultural Procedures With a Collaborative Robot}, keyword = {Robots, Robot sensing systems, Force, End effectors, Collaboration, Torque} }
@article{article, author = {Polic, Marsela and Car, Marko and Petric, Frano and Orsag, Matko}, year = {2021}, pages = {2768-2774}, DOI = {10.1109/LRA.2021.3062301}, keywords = {Robots, Robot sensing systems, Force, End effectors, Collaboration, Torque}, journal = {IEEE robotics and automation letters}, doi = {10.1109/LRA.2021.3062301}, volume = {6}, number = {2}, issn = {2377-3766}, title = {Compliant Plant Exploration for Agricultural Procedures With a Collaborative Robot}, keyword = {Robots, Robot sensing systems, Force, End effectors, Collaboration, Torque} }

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


Citati:





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