Motion Control of a Citrus-Picking Robot

Abstract: A robotic mechanism was developed to locate and remove citrus fruit (specifically oranges) from the tree, individually. The system uses color vision for finding the fruit and pointing the actuator toward the fruit. It continues with an ultrasonic sensor to measure the distance from the end-effector to the object. The real-time motion control algorithms which control the three servo-axes of the robot to point the picking actuator toward the fruit and to extend the actuator toward the fruit. When the fruit is determined to be within the picking range of the robot, the picking mechanism is actuated to grip the fruit and the fruit is removed from the tree.

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