Hydraulic robot arm controlled by visual servoing

G. Raush; F. Freire; M. Khamashta; E. Codina; J. Setó; J. Cangas

Hydraulic robot arm controlled by visual servoing

In: Precision agriculture '13

Authors:

G. Raush

G. Raush ¹LABSON-UPC, Terrassa, 08222 Barcelona, Spain; gustavo.raush@upc.edu

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F. Freire

F. Freire ¹LABSON-UPC, Terrassa, 08222 Barcelona, Spain; gustavo.raush@upc.edu

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M. Khamashta

M. Khamashta ¹LABSON-UPC, Terrassa, 08222 Barcelona, Spain; gustavo.raush@upc.edu

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E. Codina

E. Codina ¹LABSON-UPC, Terrassa, 08222 Barcelona, Spain; gustavo.raush@upc.edu

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J. Setó

J. Setó ²JasVisio, Olius, 25268 Lleida, Spain

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, and

J. Cangas

J. Cangas ²JasVisio, Olius, 25268 Lleida, Spain

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Type:: Chapter

Pages:: 365–371

DOI:: https://doi.org/10.3920/9789086867783_046

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This work presents a fully-hydraulic arm suitable for use in extremely aggressive environments such as hottest greenhouse, desert or rain forest. The use of hydraulic energy in all drives facilitates a compact design, low weight, ability to handle a wide range of loads and precise positioning in the workspace. To ensure a robust and economical design, movement is controlled via visual servoing, eliminating the need for joint position sensors in the kinematic chain. Preliminary tests showed the feasibility of the approach detailed here.

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Precision agriculture '13

E-Book ISBN:: 9789086867783

Publisher:: Wageningen Academic

Print Publication Date:: 01 Nov 2013

Subjects
- Life Sciences
  - General
  - Agriculture & Environment

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Hydraulic robot arm controlled by visual servoing

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Precision agriculture '13

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