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Due to their recognised role in causing environmental pressures, the need to reduce production costs and public concerns over the healthfulness of fresh products and food, reducing pesticide use in agriculture is a major objective. In current farming practice, pesticides are typically applied uniformly across fields, despite many pests and diseases exhibiting uneven spatial distributions and evolving...
Selective tasks such as harvesting or spraying of single crops are a promising research topic in agricultural automation. Inspired by industrial production, an obvious approach is to use robot manipulators in greenhouses and orchards. To exploit the potential of redundant manipulators in particular, advanced motion planning algorithms are needed. While harvesting, a new trajectory for every fruit...
Determining the optimal solution for the inverse kinematics of redundant robots has been the focus of much previous research. Instantaneous approaches are computationally efficient, but may cause high joint velocities due to their local character. In this paper, we present an efficient implementation of a global approach following Pontryagin's Minimum Principle for online calculation. Within a moving...
The drive mechanism of many robot joints are composed of an electrical actuator and a gear transmission. Besides actuator dynamics and gear elasticity, friction effects are of particular importance for accurate dynamic modeling. This paper presents the design and development of a modular testbed for experimental friction identification in modular robot drives. We have used this testbed to investigate...
These days, agricultural work still involves demanding and exhausting duties. The application of autonomous robots is a possible way to support human labor in the field. By adapting the robots to several tasks, like harvesting or cultivation of different types of crop, costs can be reduced while the flexibility of the system is increased. Thus, in this paper several concepts of modular agricultural...
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