DocumentCode :
2408456
Title :
Autonomous arecanut tree climbing and pruning robot
Author :
Soni, Devang P. ; Ranjana, M. ; Gokul, N.A. ; Swaminathan, Sridhar ; Binoy, B Nair
Author_Institution :
Amrita Sch. of Eng., Coimbatore, India
fYear :
2010
fDate :
3-5 Dec. 2010
Firstpage :
278
Lastpage :
282
Abstract :
This paper presents the design and development of a versatile autonomous tree climbing & pruning robot for arecanut farming. The robot has a linear frictional force based non-linear self-regulatory system with 9 DOF that adapts itself to changing trunk diameter. The robot chassis is made rigid and light-weight. An on-board battery is the power source. The motion is provided by two DC motors fitted to spiked wheels. A 5 DOF PUMA arm is mounted on the robot for cutting and pruning purpose. The intelligence is based on Digital Image Processing using Object Recognition techniques. Machine vision is through a guiding camera mounted over the Robotic Arm that feeds the OMAP 32bit Micro-controller made of ARM CORTEX-M3 and Da Vinci processor which has Wavelet based JPEG compression and noise elimination module. A manual override with a display screen allows user to view and control the robot when necessary.
Keywords :
image processing; manipulators; mobile robots; object recognition; 5 DOF PUMA arm; ARM CORTEX-M3; DC motor; Da Vinci processor; JPEG compression; autonomous arecanut tree climbing; camera; digital image processing; linear frictional force; machine vision; noise elimination; nonlinear self regulatory system; object recognition technique; onboard battery; pruning robot; robotic arm; Educational institutions; Force; Mobile robots; Robot kinematics; Springs; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Emerging Trends in Robotics and Communication Technologies (INTERACT), 2010 International Conference on
Conference_Location :
Chennai
Print_ISBN :
978-1-4244-9004-2
Type :
conf
DOI :
10.1109/INTERACT.2010.5706160
Filename :
5706160
Link To Document :
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