An end-effector and manipulator control for tomato cluster harvesting robot

Naoshi Kondo, Shigemune Taniwaki, Koichi Tanihara, Koki Yata, Mitsuji Monta, Mitsutaka Kurita, Mitsuyoshi Tsutumi

Research output: Contribution to conferencePaperpeer-review

3 Citations (Scopus)


An end-effector and a control method for tomato-cluster harvesting manipulator are proposed in this study. When fruit cluster harvesting is conducted, peduncle direction is necessary to cut, but is not easy to detect because peduncles are often occluded by leaves, stems and fruits. The end-effector needs to grasp the peduncle without its direction information. An end-effector which can surround main stem and can grasp and cut the peduncle by fingers was made as a trial. When a tomato cluster is transported into a container with the manipulator, both its transportation speed and vibration damping are required. Such a control problem is generally called a motion and vibration control (MOVIC). An input shaping method is one of the representative control methods for the MOVIC. It requires accurate natural frequencies of the manipulating target fruit cluster to damp the flexible vibration when the robot is accelerating the target. The tomato clusters, however, have individual variation with natural frequencies; hence, it is not easy to apply the input shaping method directly. To overcome this problem, identification method of natural frequency was combined with the input shaping method in the proposed method. This identification was based on real time sensing data from a machine vision and a force sensor and database of physical properties of the tomato clusters. Usefulness of the proposed method was verified through both numerical simulations and hardware experiments.

Original languageEnglish
Publication statusPublished - Nov 7 2007
Event2007 ASABE Annual International Meeting, Technical Papers - Minneapolis, MN, United States
Duration: Jun 17 2007Jun 20 2007


Other2007 ASABE Annual International Meeting, Technical Papers
Country/TerritoryUnited States
CityMinneapolis, MN


  • End-effector
  • Fruit cluster
  • Harvesting robot
  • Manipulator
  • Motion and vibration control
  • Tomato

ASJC Scopus subject areas

  • Agricultural and Biological Sciences(all)
  • Engineering(all)


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