Abstract
We aim to develop pruning robot with branches identification system to prune using a small cutter actively. Especially, in this paper, a pruning mechanism and its motion planning algorithm are proposed. An endmill is mounted as a cutter on the pruning mechanism to downsize and lighten the mechanism. A motion of the pruning mechanism is planned with a branches map built based on information from a distance measurement system and a diameter measurement system. Availability of the pruning mechanism and the motion planning algorithm for a pruning robot are shown through experiments in real and simulation environments.
