Abstract
An agricultural intelligent robot was constructed experimentally for harvesting tomatoes and other fruits. It was small, low cost and less electric power type robot. The articulated manipulator was anthropomorphic type with 5 degrees of freedom and each link was driven by a DC motor. The motion of manipulator was numerically controlled to harvest tomato fruits with a comparatively high speed. A television camera equipped with a MOS image sensor was adopted as an eye of the robot. Red color and brightness signals were compared by a compactor and this binary output signal was fed to the pattern memory. The three dimensional position of each fruit was calculated by giving two input patterns at different positions. These TV camera and manipulator were mounted on a battery car and the intelligent robot was consisted. A continuous fruit harvesting test was tried in the field under the control of main program by which every software was connected. Both hardware and software of controlling the manipulator were described in this report.
