Dynamics and Motion Control of a Pineapple Harvesting Robotic System

The paper addresses to dynamics and control algorithms of pineapple-harvesting robotic system in fields. The system contains two robotic manipulators of 3DOF Gantry configuration mounting on the working platform. Based on Euler-Lagrange principle, dynamics of the manipulators are formulated and included with dynamics of actuators. In order to control the motions of the manipulators for in-field harvesting work, we developed a robust control algorithm to cope with disturbances from working environment. The simulation carried in MatLab showed the effectiveness of the proposed control law. The harvesting system has worked in a pineapple field in Tien-Giang Province. The experimental results show that accuracy of pineapple harvesting achieve to 95% in 36 cycles