Robotic mushroom harvesting by employing probabilisticroad map and inverse kinematics

Abstract

collision-free path to a destination position in a random farm is determined using a probabilistic roadmap thatcan manage static and dynamic obstacles. The position of ripening mushrooms is a result of picture processing.A mushroom harvesting robot is explored that uses inverse kinematics at the target position to compute the stateof a robotic hand for grasping a ripening mushroom and plucking it. The Denavit–Hartenberg approach was usedto create a kinematic model of a two-finger dexterous hand with three degrees of freedom for mushroom picking.Unlike prior experiments in mushroom harvesting, mushrooms are not planted in a grid or design but are randomlyscattered. At any point throughout the harvesting process, no human interaction is necessary