&amp;lt;i&amp;gt;Finite-time Visual Servo Control for Robotic Fruit Harvesting in the Presence of Fruit Motion&amp;lt;/i&amp;gt;

Mehta, Siddhartha S.; Rysz, Maciej; Ganesh, Prashant; Burks, Thomas F.

doi:10.13031/aim.202001250

Cited by 2 publications

(3 citation statements)

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“…Due to environmental disturbances, the fruit target could be in motion. To address this problem, [11] proposed an adaptive VS controller for harvesting robots to compensate for unknown dynamics of fruits online, and afterward, [12] presents a finite-time VS controller to improve robustness of a robot system w.r.t. fruit motion.…”

Section: Taomentioning

confidence: 99%

“…Eq. ( 11) in [12]. Such the hypothesis makes sense in some situations but brings conservativeness that limits its performance in practical application.…”

Section: Taomentioning

confidence: 99%

“…The common control objective of the above work, however, is regulating the end-effector to the desired pixel coordinates and desired fruit depth, e.g., Eq. ( 5) in [12]. In the setpoint control, the velocity and trajectory of the end-effector approaching the target cannot be regulated.…”

Section: Taomentioning

confidence: 99%

See 2 more Smart Citations

Hybrid Visual Servoing Tracking Control of Uncalibrated Robotic Systems for Dynamic Dwarf Culture Orchards Harvest

Li¹,

Qiu²,

Zhao

2020

Preprint

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The paper is concerned with the dynamic tracking problem of SNAP orchards harvesting robots in the presence of multiple uncalibrated model parameters in the application of dwarf culture orchards harvest. A new hybrid visual servoing adaptive tracking controller and three adaptive laws are proposed to guarantee harvesting robots to finish the dynamic harvesting task and the adaption to unknown parameters including camera intrinsic and extrinsic model and robot dynamics. By the Lyapunov theory, asymptotic convergence of the closed-loop system with the proposed control scheme is rigorously proven. Experimental and simulation results have been conducted to verify the performance of the proposed control scheme. The results demonstrate its effectiveness and superiority.

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Section: Taomentioning

confidence: 99%

“…Eq. ( 11) in [12]. Such the hypothesis makes sense in some situations but brings conservativeness that limits its performance in practical application.…”

Section: Taomentioning

confidence: 99%