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Design and fuzzy control of a robotic gripper for efficient strawberry harvesting

Published online by Cambridge University Press:  19 May 2014

Fotios Dimeas ,
Dhionis V. Sako ,
Vassilis C. Moulianitis  and
Nikos A. Aspragathos
Fotios Dimeas*
Affiliation:
Robotics Group, Department of Mechanical Engineering & Aeronautics, University of Patras, Rio 26504, Greece
Dhionis V. Sako
Affiliation:
Robotics Group, Department of Mechanical Engineering & Aeronautics, University of Patras, Rio 26504, Greece
Vassilis C. Moulianitis
Affiliation:
Robotics Group, Department of Mechanical Engineering & Aeronautics, University of Patras, Rio 26504, Greece Department of Product and Systems Design Engineering, University of the Aegean, Syros 84100, Greece
Nikos A. Aspragathos
Affiliation:
Robotics Group, Department of Mechanical Engineering & Aeronautics, University of Patras, Rio 26504, Greece
*
*Corresponding author. E-mail: dimeasf@mech.upatras.gr
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Summary

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.

Keywords

Gripper designStrawberry pickingHierarchical controlFuzzy force control
Type
Articles
Information
Robotica , Volume 33 , Special Issue 5: Robotics in the Alpe-Adria-Danube Region (RAAD 2013) , June 2015 , pp. 1085 - 1098
Copyright
Copyright © Cambridge University Press 2014 

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