Development of a sweet pepper harvesting robot

• Published in: Journal of field robotics Vol. 37; no. 6; pp. 1027 - 1039
• Main Authors: Arad, Boaz, Balendonck, Jos, Barth, Ruud, Ben‐Shahar, Ohad, Edan, Yael, Hellström, Thomas, Hemming, Jochen, Kurtser, Polina, Ringdahl, Ola, Tielen, Toon, Tuijl, Bart
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.09.2020
• Subjects: Agriculture; Algorithms; Computer Science; computer vision; Concrete pipes; Cycle time; Datavetenskap; Electronic equipment; End effectors; field test; Harvesting; Logistics; Maskinteknik; Mechanical Engineering; Motion control; Programmable logic controllers; real-world conditions; Robot arms; robotics; Robots; Systems design

This paper presents the development, testing and validation of SWEEPER, a robot for harvesting sweet pepper fruit in greenhouses. The robotic system includes a six degrees of freedom industrial arm equipped with a specially designed end effector, RGB‐D camera, high‐end computer with graphics process...