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Decoupled motion planning of a mobile manipulator for precision agriculture

Published online by Cambridge University Press:  16 March 2023

Giovanni Colucci Open the ORCID record for Giovanni Colucci [Opens in a new window] ,
Luigi Tagliavini Open the ORCID record for Luigi Tagliavini [Opens in a new window] ,
Andrea Botta Open the ORCID record for Andrea Botta [Opens in a new window] ,
Lorenzo Baglieri Open the ORCID record for Lorenzo Baglieri [Opens in a new window]  and
Giuseppe Quaglia Open the ORCID record for Giuseppe Quaglia [Opens in a new window]
Giovanni Colucci*
Affiliation:
DIMEAS - Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy
Luigi Tagliavini
Affiliation:
DIMEAS - Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy
Andrea Botta
Affiliation:
DIMEAS - Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy
Lorenzo Baglieri
Affiliation:
DIMEAS - Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy
Giuseppe Quaglia
Affiliation:
DIMEAS - Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy
*
*Corresponding author. E-mail: giovanni_colucci@polito.it
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Abstract

Thanks to recent developments in service robotics technologies, precision agriculture (PA) is becoming an increasingly prominent research field, and several studies were made to present and outline how the use of mobile robotic systems can help and improve farm production. In this paper, the integration of a custom-designed mobile base with a commercial robotic arm is presented, showing the functionality and features of the overall system for crop monitoring and sampling. To this aim, the motion planning problem is addressed, developing a tailored algorithm based on the so-called manipulability index, that treats the base and robotic arm mobility as two independent degrees of motion; also developing an open source closed-form inverse kinematics algorithm for the kinematically redundant manipulator. The presented methods and sub-system, even though strictly related to a specific mobile manipulator system, can be adapted not only to PA applications where a mobile manipulator is involved but also to the wider field of assistive robotics.

Keywords

precision agricultureSDG 12mobile robotsservice robotsinverse kinematics
Type
Research Article
Information
Robotica , Volume 41 , Issue 6 , June 2023 , pp. 1872 - 1887
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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