Development of a Visual Servo System for Robotic Fruit Harvesting

One of the challenges in future food production, amidst increasing population and decreasing resources, is developing a sustainable production system. It anticipated that robotics will play significant role maintaining system, specifically labor-intensive operations. Therefore, main goal this project to develop robotic fruit harvesting initially focused on apples. The system composed six-degrees-of-freedom (DOF) manipulator, two-fingered gripper, color camera, depth sensor, personal computer. This paper details development performance visual servo can be used for harvesting. Initial test evaluations were conducted an indoor laboratory using plastic artificial trees. Subsequently, was tested outdoors commercial orchard. Evaluation parameters included detection performance, response time servo, physical harvest fruit. Results evaluation showed developed has potential guide robot