Paper Info
Title
Design and fuzzy control of a robotic gripper for efficient strawberry harvesting
Abstract
Strawberry is a very delicate fruit that requires special treatment during harvesting. A hierarchical control scheme is proposed based on a fuzzy controller for the force regulation of the gripper and proper grasping criteria, that can detect misplaced strawberries on the gripper or uneven distribution of forces. The design of the gripper and the controller are based on conducted experiments to measure the maximum gripping force and the required detachment force under a variety of detachment techniques. It is demonstrated that the hand motion for detaching the fruit from the stem has a significant role in the process because it can reduce the required force. By analysing those results a robotic gripper with pressure profile sensors is developed that demonstrates an efficiency comparable to the human hand for strawberry grasping. The designed gripper and fuzzy controller performance is tested with a considerable number of fresh fruits to demonstrate the effectiveness to the uncertainties of strawberry grasping.
Year
DOI
Venue
2015
10.1017/S0263574714001155
ROBOTICA
Keywords
Field
DocType
Gripper design,Strawberry picking,Hierarchical control,Fuzzy force control
Control theory,Control theory,Fuzzy logic,Control engineering,Fuzzy control system,Engineering
Journal
Volume
Issue
ISSN
33
SP5
0263-5747
Citations 
PageRank 
References 
3
0.46
5
Authors
4
Name
Order
Citations
PageRank
Fotios Dimeas1396.45
Dhionis V. Sako230.46
Vassilis C. Moulianitis352.20
Nikos A. Aspragathos424337.69