Abstract
A novel hierarchical system of robotic cranes is presented. In this system, a gantry crane is used to hoist and dock a slewing unit structure that supports a balanced pair of vision feedback cranes. Each vision feedback crane is supported by six winches to provide six degrees of freedom in a manner patterned after NIST RoboCrane®. This hierarchical system of cranes can be used for applications where subjects to be inspected and manipulated are located along the posts, and where posts are arranged in a grid array. Agricultural applications might include inspecting and manipulating various types of climbing vines. The application of recognising and pollinating vanilla flowers with vision feedback is simulated and results are provided.
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