抄録
This paper describes a harvesting robot system for asparagus. We developed electric cart, robot manipulator and vision sensor for asparagus harvesting. The electric cart has the umbilical cable for the power supply to use it in the green house continuously. The robot manipulator has 4 degree freedom to change the position and has 2 degree freedom for grasping and cutting asparaguses. The vision sensor is composed by two sets of slit laser projector and one TV camera to detect the length and position of asparagus. Using these components, we made an asparagus harvesting robot for trial purposes.
