Hybrid Visual Servo Control of a Robotic Manipulator for Cherry Tomato Harvesting

This paper aims to develop a visual servo control of robotic manipulator for cherry tomato harvesting. In the manipulator, an RGB-depth camera was mounted end effector acquire poses target tomatoes in space. The eye-in-hand-based controller guides implement eye–hand coordination harvest tomatoes, which hybrid method (HVSC) with fuzzy dynamic parameters proposed by combining position-based (PBVS) and image-based (IBVS) tradeoff both performances. addition, novel cutting clipping integrated mechanism designed pick tomatoes. tomato-harvesting HVSC validated evaluated laboratory testbed based on harvesting implementation. results show that developed using has average time 9.40 s/per success rate 96.25% picking