Abstract
A collision-free path to a destination position in a random farm is determined using a probabilistic roadmap (PRM) that can manage static and dynamic obstacles. The position of ripening mushrooms is a result of picture processing. A mushroom harvesting robot is explored that uses inverse kinematics (IK) at the target position to compute the state of a robotic hand for grasping a ripening mushroom and plucking it. The Denavit-Hartenberg approach was used to create a kinematic model of a two-finger dexterous hand with three degrees of freedom for mushroom picking. Unlike prior experiments in mushroom harvesting, mushrooms are not planted in a grid or design, but are randomly scattered. At any point throughout the harvesting process, no human interaction is necessary.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: BOHR International Journal of Internet of things, Artificial Intelligence and Machine Learning
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
