On-line near minimum-time path planning and control of an industrial robot for picking fruits

  title={On-line near minimum-time path planning and control of an industrial robot for picking fruits},
  author={L. G. van Willigenburg and Camile W. J. Hol and Eldert J. van Henten},
To be competitive, an industrial robot picking fruits must be able to perform this task in an amount of time which compares to that needed by humans. Because the location of a fruit changes due to the picking of others, the determination of their location has to be performed on-line and also the associated path planning for the robot. This poses two major problems in the development of fruit-picking robots since locating fruits and path planning, in general, are computationally expensive… CONTINUE READING


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