Articles, Conference and Workshop Papers Collection

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Browsing Articles, Conference and Workshop Papers Collection by Subject "Cotton-picking"

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    Visual control of cotton-picking Rover and manipulator using a ROS-independent finite state machine
    (2019 ASABE Annual International Meeting, 2019-07) Fue, Kadeghe; Barnes, Edward; Porter, Wesley; Rains, Glen
    Small rovers are being developed to pick cotton as bolls open. The concept is to have several of these rovers move between rows of cotton, and when bolls are detected, use a manipulator to pick the bolls. To accomplish this goal, each cotton-picking robot needs to accomplish three movements; rover must move forward/backward, left/right and the manipulator must be able to move to harvest the detected cotton bolls. Control of these actions can have several states and transitions. Transitions from one state to another can be complex but using ROS-independent finite state machine (SMACH), adaptive and optimal control can be achieved. SMACH provides task level capability to deploy multiple tasks to the rover and manipulator. In this research, a cotton-picking robot using a stereo camera to locate end-effector and cotton bolls is developed. The robot harvests the bolls using a 2D manipulator that moves linearly horizontally and vertically. The boll 3-D position is determined by calculating stereo camera parameters, and the decision of the finite state machine guides the manipulator and the rover to the destination. PID control is deployed to control rover movement to the boll. We demonstrate preliminary results in a direct-sun simulated environment. The system achieved a picking performance of 17.3 seconds per boll. Also, it covered the task by navigating at a speed of 0.87 cm per second collecting 0.06 bolls per second. In each mission, the system was able to detect all the bolls but one.
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    Visual inverse kinematics for cotton picking robot
    (2019 Beltwide Cotton Conferences, New Orleans, Louisiana., 2019) Fue, K. G.; Tifton, Georgia; Porter, W. M.; Barnes, E. M.; Rains, G. C.
    Fast cotton picking requires a fast-moving arm. The Cartesian arm remains the most simple and quick moving arm compared to other configurations. In this study, an investigation of the 2D Cartesian arm controlled with a stepper- drive is investigated. The arm is designed and mounted to a research rover. Two stereo cameras are installed and used to take the images of the cotton plants in two different angles. One camera is directly pointing downward while the other camera is pointing perpendicular to the row. This configuration allows the robot to view the cotton plants and bolls. The robot arm can move upward and downward or left and right. The rover uses two linear servos connected to a variable displacement pump swashplate for powering four hydraulic wheel motors and the engine accelerator linkage to move forward. The forward and backward movement of the rover makes the cotton-picking robot arm movement 3-dimensional. The downward camera gives feedback to the robotic system on the position of the arm. The rover moves forward along the row and stops whenever the cotton boll is perpendicular to the cartesian arm. The sideways camera gives an alternative view of the cotton boll that allows the robot servos to stop accurately. The arm uses vacuum suction to pick the cotton bolls. The vacuum suction end effector is mounted on the arm and pointing perpendicular to the row. In this paper, the kinematics and movement of the cotton arm and boll picking are demonstrated.