Title: A vision feedback robotic docking crane system with application to vanilla pollination

Authors: Ted Shaneyfelt; Mo M. Jamshidi; Sos Agaian

Addresses: Department of Computer Science and Engineering, University of Hawaii, 900 West Kawili Street, Hilo, HI 96720, USA ' Department of Electrical and Computer Engineering, The University of Texas, One UTSA Circle, San Antonio, TX 97249, USA ' Department of Electrical and Computer Engineering, The University of Texas, One UTSA Circle, San Antonio, TX 97249, USA

Abstract: A novel hierarchical system of robotic cranes is presented. In this system, a gantry crane is used to hoist and dock a slewing unit structure that supports a balanced pair of vision feedback cranes. Each vision feedback crane is supported by six winches to provide six degrees of freedom in a manner patterned after NIST RoboCrane®. This hierarchical system of cranes can be used for applications where subjects to be inspected and manipulated are located along the posts, and where posts are arranged in a grid array. Agricultural applications might include inspecting and manipulating various types of climbing vines. The application of recognising and pollinating vanilla flowers with vision feedback is simulated and results are provided.

Keywords: robotics; agriculture; greenhouses; vision feedback; robot docking cranes; vanilla pollination; robotic cranes; gantry cranes; automated inspection; manipulation; climbing vines; simulation.

DOI: 10.1504/IJAAC.2013.055096

International Journal of Automation and Control, 2013 Vol.7 No.1/2, pp.62 - 82

Received: 17 Oct 2012
Accepted: 19 Apr 2013
Published online: 12 Jul 2014 *

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