%0 Journal Article %1 mohananrobotic %A Mohanan, M. G. %D 2021 %J BOHR International Journal of Future Robotics and Artificial Intelligence %K Mushroomharvesting inversekinematics motionplanning probabilisticroadmap %N 1 %P 1-10 %R https://doi.org/10.54646/bijfrai.001 %T Robotic Mushroom Harvesting by Employing Probabilistic Road Map and Inverse Kinematics %U https://www.bohrpub.com/article/BIJFRAI/Vol1N1/BIJFRAI_20211101.pdf %V 1 %X A collision free path to a target location in a random farm is computed by employing a probabilistic roadmap (PRM) that can handle static and dynamic obstacles. The location of ripened mushrooms is an input obtained by image processing. A mushroom harvesting robot is discussed that employs inverse kinematics (IK) at the target location to compute the state of a robotic hand for holding a ripened mushroom and plucking it. Kinematic model of a two-finger dexterous hand with 3 degrees of freedom for plucking mushrooms was developed using the Denavit-Hartenberg method. Unlike previous research in mushroom harvesting, mushrooms are not planted in a grid or some pattern, but are randomly distributed. No human intervention is required at any stage of harvesting

@article{mohananrobotic, abstract = {A collision free path to a target location in a random farm is computed by employing a probabilistic roadmap (PRM) that can handle static and dynamic obstacles. The location of ripened mushrooms is an input obtained by image processing. A mushroom harvesting robot is discussed that employs inverse kinematics (IK) at the target location to compute the state of a robotic hand for holding a ripened mushroom and plucking it. Kinematic model of a two-finger dexterous hand with 3 degrees of freedom for plucking mushrooms was developed using the Denavit-Hartenberg method. Unlike previous research in mushroom harvesting, mushrooms are not planted in a grid or some pattern, but are randomly distributed. No human intervention is required at any stage of harvesting}, added-at = {2022-05-05T14:27:07.000+0200}, author = {Mohanan, M. G.}, biburl = {https://www.bibsonomy.org/bibtex/2b709b365be2b2f2527753e245ba3e4ab/ijfraijournal}, doi = {https://doi.org/10.54646/bijfrai.001}, interhash = {7efa493b6253195f7df094f02f040fc8}, intrahash = {b709b365be2b2f2527753e245ba3e4ab}, journal = {BOHR International Journal of Future Robotics and Artificial Intelligence}, keywords = {Mushroomharvesting inversekinematics motionplanning probabilisticroadmap}, language = {English}, month = {February }, number = 1, pages = {1-10}, timestamp = {2022-05-05T14:27:07.000+0200}, title = {Robotic Mushroom Harvesting by Employing Probabilistic Road Map and Inverse Kinematics}, url = {https://www.bohrpub.com/article/BIJFRAI/Vol1N1/BIJFRAI_20211101.pdf}, volume = 1, year = 2021 }