Development of robotic cabbage harvester (Part 1)

Operational speed of the designed robot

Abstract

A robotic cabbage harvester was developed for mechanization of selective harvesting operation. The robot is mounted on the crawler type carrier which is composed of a light-weight 4 DOF polar coordinate hydraulic drive manipulator, a hand, a CCD camera, and a transputer based parallel computer for image processing and manipulator control. It can judges mature cabbages by the diameter of the heads, and picks up the cabbages selectively. The robot was analyzed to estimate operational efficiency for harvesting. As a result of the motion simulation and experiment, The maximum operational speed of the robot was 22s by picking up one cabbage on the average.