Robot Operations for Pine Tree Resin Collection
A robotic technology consisting of an industrial robot mounted on an autonomous rover used to tap slash pine trees and collect their oleoresin for processing is introduced, and the technological challenges related to the robotic operations are discussed in detail. Unlike the case of industrial autom...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-10-01
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| Series: | Technologies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7080/9/4/79 |
| _version_ | 1797500268137414656 |
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| author | Vladimir Gurau Beau Ragland Daniel Cox Andrew Michaud Lloyd Busby |
| author_facet | Vladimir Gurau Beau Ragland Daniel Cox Andrew Michaud Lloyd Busby |
| author_sort | Vladimir Gurau |
| collection | DOAJ |
| description | A robotic technology consisting of an industrial robot mounted on an autonomous rover used to tap slash pine trees and collect their oleoresin for processing is introduced, and the technological challenges related to the robotic operations are discussed in detail. Unlike the case of industrial automated manufacturing systems where the relative position between the tool and workpiece can be controlled within a few hundredths of a millimeter accuracy, when used in highly unstructured environments characteristic to forestry or agriculture, the positioning accuracy between the industrial robot and the target on which it operates can be much lower than the accuracy required for the operation of the industrial robot. The paper focuses on presenting the robotic operations necessary for drilling three converging boreholes in the pine tree, spraying the boreholes with chemicals, inserting a plastic tube with pre-attached collection bag in one borehole and inserting two plugs in other two boreholes. The challenges related to performing these robotic operations in conditions of large variations in the actual shape of the pine tree trunk and variations in the relative position between the robot and the pine tree after the autonomous vehicle positions itself in front of the tree are presented. The technical solutions used to address these challenges are also described. The strategies used to programmatically adjust the robot toolpath based on detection of the borehole entry points and on the measurement of the insertion force are presented. |
| first_indexed | 2024-03-10T03:59:28Z |
| format | Article |
| id | doaj.art-e1b85ab3d6a84994aa305f06f66a57dd |
| institution | Directory Open Access Journal |
| issn | 2227-7080 |
| language | English |
| last_indexed | 2024-03-10T03:59:28Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Technologies |
| spelling | doaj.art-e1b85ab3d6a84994aa305f06f66a57dd2023-11-23T10:48:04ZengMDPI AGTechnologies2227-70802021-10-01947910.3390/technologies9040079Robot Operations for Pine Tree Resin CollectionVladimir Gurau0Beau Ragland1Daniel Cox2Andrew Michaud3Lloyd Busby4Department of Manufacturing Engineering, Georgia Southern University, Statesboro, GA 30458, USADepartment of Manufacturing Engineering, Georgia Southern University, Statesboro, GA 30458, USADepartment of Manufacturing Engineering, Georgia Southern University, Statesboro, GA 30458, USADepartment of Manufacturing Engineering, Georgia Southern University, Statesboro, GA 30458, USAB&L Naval Stores Inc., Hinesville, GA 31313, USAA robotic technology consisting of an industrial robot mounted on an autonomous rover used to tap slash pine trees and collect their oleoresin for processing is introduced, and the technological challenges related to the robotic operations are discussed in detail. Unlike the case of industrial automated manufacturing systems where the relative position between the tool and workpiece can be controlled within a few hundredths of a millimeter accuracy, when used in highly unstructured environments characteristic to forestry or agriculture, the positioning accuracy between the industrial robot and the target on which it operates can be much lower than the accuracy required for the operation of the industrial robot. The paper focuses on presenting the robotic operations necessary for drilling three converging boreholes in the pine tree, spraying the boreholes with chemicals, inserting a plastic tube with pre-attached collection bag in one borehole and inserting two plugs in other two boreholes. The challenges related to performing these robotic operations in conditions of large variations in the actual shape of the pine tree trunk and variations in the relative position between the robot and the pine tree after the autonomous vehicle positions itself in front of the tree are presented. The technical solutions used to address these challenges are also described. The strategies used to programmatically adjust the robot toolpath based on detection of the borehole entry points and on the measurement of the insertion force are presented.https://www.mdpi.com/2227-7080/9/4/79robot toolpath planningindustrial robots in forestrycontrol and motion planning for precision technological operationsperception-action coupling |
| spellingShingle | Vladimir Gurau Beau Ragland Daniel Cox Andrew Michaud Lloyd Busby Robot Operations for Pine Tree Resin Collection Technologies robot toolpath planning industrial robots in forestry control and motion planning for precision technological operations perception-action coupling |
| title | Robot Operations for Pine Tree Resin Collection |
| title_full | Robot Operations for Pine Tree Resin Collection |
| title_fullStr | Robot Operations for Pine Tree Resin Collection |
| title_full_unstemmed | Robot Operations for Pine Tree Resin Collection |
| title_short | Robot Operations for Pine Tree Resin Collection |
| title_sort | robot operations for pine tree resin collection |
| topic | robot toolpath planning industrial robots in forestry control and motion planning for precision technological operations perception-action coupling |
| url | https://www.mdpi.com/2227-7080/9/4/79 |
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