Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture
In recent years, the study of robotic systems for agriculture, a modern research field often shortened as “precision agriculture”, has become highly relevant, especially for those repetitive actions that can be automated thanks to innovative robotic solutions. This paper presents the kinematic model...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/5/321 |
| _version_ | 1797498399961907200 |
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| author | Giovanni Colucci Andrea Botta Luigi Tagliavini Paride Cavallone Lorenzo Baglieri Giuseppe Quaglia |
| author_facet | Giovanni Colucci Andrea Botta Luigi Tagliavini Paride Cavallone Lorenzo Baglieri Giuseppe Quaglia |
| author_sort | Giovanni Colucci |
| collection | DOAJ |
| description | In recent years, the study of robotic systems for agriculture, a modern research field often shortened as “precision agriculture”, has become highly relevant, especially for those repetitive actions that can be automated thanks to innovative robotic solutions. This paper presents the kinematic model and a motion planning pipeline for a mobile manipulator specifically designed for precision agriculture applications, such as crop sampling and monitoring, formed by a novel articulated mobile base and a commercial collaborative manipulator with seven degrees of freedom. Starting from the models of the two subsystems, characterized by an adjustable position and orientation of the manipulator with respect to the mobile base, the linear mapping that describes the differential kinematics of the whole custom system is expressed as a function of the input commands. To perform pick–and–place tasks, a motion planning algorithm, based on the manipulator manipulability index mapping and a closed form inverse kinematics solution is presented. The motion of the system is based on the decoupling of the base and the arm mobility, and the paper discusses how the base can be properly used for manipulator positioning purposes. The closed form inverse kinematics solution is also provided as an open-source Matlab code. |
| first_indexed | 2024-03-10T03:32:54Z |
| format | Article |
| id | doaj.art-7dc6e1e1f5904564acaf4e0237426be5 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T03:32:54Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-7dc6e1e1f5904564acaf4e0237426be52023-11-23T11:52:16ZengMDPI AGMachines2075-17022022-04-0110532110.3390/machines10050321Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision AgricultureGiovanni Colucci0Andrea Botta1Luigi Tagliavini2Paride Cavallone3Lorenzo Baglieri4Giuseppe Quaglia5Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyIn recent years, the study of robotic systems for agriculture, a modern research field often shortened as “precision agriculture”, has become highly relevant, especially for those repetitive actions that can be automated thanks to innovative robotic solutions. This paper presents the kinematic model and a motion planning pipeline for a mobile manipulator specifically designed for precision agriculture applications, such as crop sampling and monitoring, formed by a novel articulated mobile base and a commercial collaborative manipulator with seven degrees of freedom. Starting from the models of the two subsystems, characterized by an adjustable position and orientation of the manipulator with respect to the mobile base, the linear mapping that describes the differential kinematics of the whole custom system is expressed as a function of the input commands. To perform pick–and–place tasks, a motion planning algorithm, based on the manipulator manipulability index mapping and a closed form inverse kinematics solution is presented. The motion of the system is based on the decoupling of the base and the arm mobility, and the paper discusses how the base can be properly used for manipulator positioning purposes. The closed form inverse kinematics solution is also provided as an open-source Matlab code.https://www.mdpi.com/2075-1702/10/5/321precision agriculturemobile manipulationmotion planninganalytic Jacobianinverse kinematicsmanipulability |
| spellingShingle | Giovanni Colucci Andrea Botta Luigi Tagliavini Paride Cavallone Lorenzo Baglieri Giuseppe Quaglia Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture Machines precision agriculture mobile manipulation motion planning analytic Jacobian inverse kinematics manipulability |
| title | Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture |
| title_full | Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture |
| title_fullStr | Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture |
| title_full_unstemmed | Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture |
| title_short | Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture |
| title_sort | kinematic modeling and motion planning of the mobile manipulator agri q for precision agriculture |
| topic | precision agriculture mobile manipulation motion planning analytic Jacobian inverse kinematics manipulability |
| url | https://www.mdpi.com/2075-1702/10/5/321 |
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