Author: Himashu Joshi
Abstract: With a 5DOF robotic arm and a linear actuation mechanism, an autonomous robot can identify mature nutmeg fruits and pick them from any height. The camera analyses real-time video of the tree to identify mature fruits and their coordinates. A Raspberry Pi 3 model is used to control this action. The OpenCV platform is used to process the image. This information is sent to an Arduino UNO board, which controls the robotic arm's movement. The required inverse kinematics algorithms are then executed on the arduino board, which moves the joints at proper angles to achieve the goal location. The fruit is then plucked and placed into a container attached to the robot using a gripper end-effector. The robotic arm platform travels to a greater height on its own once the fruits at a specific height level are entirely plucked, thanks to a linear actuator mounted at the bottom. The robot just reaches for the fruit because it is set at a certain distance from the tree's trunk.
Keywords: Nutmeg harvesting, computer vision, Robotic arm, OpenCV platform
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