Optimisation-based Design of a Manipulator for Harvesting Capsicum

Lehnert, Christopher, Perez, Tristan, & McCool, Christopher (2015) Optimisation-based Design of a Manipulator for Harvesting Capsicum. In ICRA 2015 : IEEE International Conference on Robotics and Automation, 26 -30th May 2015, Seattle, Washington.

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Abstract

This paper presents a global-optimisation frame-work for the design of a manipulator for harvesting capsicum(peppers) in the field. The framework uses a simulated capsicum scenario with automatically generated robot models based on DH parameters. Each automatically generated robot model is then placed in the simulated capsicum scenario and the ability of the robot model to get to several goals (capsicum with varying orientations and positions) is rated using two criteria:the length of a collision-free path and the dexterity of the end-effector. These criteria form the basis of the objective function used to perform a global optimisation. The paper shows a preliminary analysis and results that demonstrate the potential of this method to choose suitable robot models with varying degrees of freedom.

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ID Code: 90392
Item Type: Conference Paper
Refereed: Yes
Divisions: Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2015 The Authors
Deposited On: 16 Nov 2015 04:30
Last Modified: 22 Nov 2015 06:00

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