Staff Publications

Staff Publications

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    'Staff publications' is the digital repository of Wageningen University & Research

    'Staff publications' contains references to publications authored by Wageningen University staff from 1976 onward.

    Publications authored by the staff of the Research Institutes are available from 1995 onwards.

    Full text documents are added when available. The database is updated daily and currently holds about 240,000 items, of which 72,000 in open access.

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Record number 553832
Title Trimbot cutting tools and manipulator
Author(s) Hemming, Jochen; Tuijl, Bart Van; Tielen, Toon; Kaljaca, Dejan; IJsselmuiden, Joris; Henten, Eldert Van; Mencarelli, Angelo; Visser, Pieter De
Source In: Applications of Intelligent Systems - Proceedings of the 1st International APPIS Conference 2018, APPIS 2018. - IOS Press (Frontiers in Artificial Intelligence and Applications ) - ISBN 9781614999287 - p. 89 - 93.
Event 1st International Conference on Applications of Intelligent Systems, APPIS 2018, Las Palmas de Gran Canaria, 2018-01-10/2018-01-12
DOI https://doi.org/10.3233/978-1-61499-929-4-89
Department(s) GTB Teelt & Gewasfysiologie A
GTB Tuinbouw Technologie
Farm Technology
PE&RC
Publication type Contribution in proceedings
Publication year 2018
Keyword(s) Agriculture - End-effector - Path planning - Pruning - Robot - Trimming
Abstract

This article describes the tasks and first results of the work package "Manipulator and Control" of the EU project Trimbot2020. This project develops a mobile robot for outdoor hedge, rose and bush trimming. The Kinova Jaco 2 robotic arm was selected as manipulator. Two different types of robotic end-effectors have been developed. The tool for trimming topiaries uses two custom designed circular contra-rotating blades. The tool for single stem cutting is based on a commercial electrical pruner. The arm and the tools can all be controlled by using the Robot Operating System (ROS). The motion planning algorithm of the arm for the bush trimming action is divided into the planning setup module, the coverage planning module and the trajectory planning module. The path planning is modelled as a traveling salesman problem. In the first phase of the project the trimming control is performed open loop. A positioning genetic algorithm was developed that minimizes the needed number of vehicle poses for one target object. In the next phase of the project a vision feedback mechanism will be implemented.

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