Modeling and simulation of an automated fruit picker robot RoboHarvest a mobile serial manipulator designed to automate the task of plucking fruits from trees and collecting them in the bin on the robot using INVERSE KINEMATICS.
Using the RGBD camera to identify the distance to the fruits.
The robot can identify the fruits using the camera attached to the front.
The robot arm will then move towards the fruit to pick the fruit.
The robot will then place the fruit back into the basket. The movement of the ur10 arm is controlled using inverse kinematics. To overcome singularities, I calculated Psuedo Inverse with Damping factor instead of directly computing inverse of the Jacobian. To achieve faster motion I have used lamdify, which transforms SymPy expressions to lambda functions which can be used to calculate numerical values very fast.
Robot in gazebo world.
The robot is designed and modeled on Solidworks.
