Publication Type : Conference Paper
Publisher : INTERACT-2010
Source : International Conference on "Emerging Trends in Robotics and Communication Technologies", INTERACT-2010, Chennai, p.278-282 (2010)
ISBN : 9781424490066
Keywords : Computer vision, DC motors, DC power transmission, Design and Development, Digital image processing, Display screen, Frictional forces, JPEG compression, Light weight, Machine design, Machine vision, Noise elimination, Non-linear, Object recognition, On-board batteries, Power sources, Pruning robot, Regulatory systems, Robot chassis, Robotics, Robots, Trunk diameters, Wavelet analysis
Campus : Coimbatore
School : School of Engineering
Department : Electronics and Communication
Year : 2010
Abstract : This paper presents the design and development of a versatile autonomous tree climbing pruning robot for arecanut farming. The robot has a linear frictional force based non-linear self-regulatory system with 9 DOF that adapts itself to changing trunk diameter. The robot chassis is made rigid and light-weight. An on-board battery is the power source. The motion is provided by two DC motors fitted to spiked wheels. A 5 DOF PUMA arm is mounted on the robot for cutting and pruning purpose. The intelligence is based on Digital Image Processing using Object Recognition techniques. Machine vision is through a guiding camera mounted over the Robotic Arm that feeds the OMAP 32-bit Micro-controller made of ARM CORTEX-M3 and Da Vinci processor which has Wavelet based JPEG compression and noise elimination module. A manual override with a display screen allows user to view and control the robot when necessary. © 2010 IEEE.
Cite this Research Publication : D. P. Soni, Ranjana, M., Gokul, N. A., Swaminathan, S., and Dr. Binoy B. Nair, “Autonomous arecanut tree climbing and pruning robot”, in International Conference on "Emerging Trends in Robotics and Communication Technologies", INTERACT-2010, Chennai, 2010, pp. 278-282.