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Authors: E. Le Flécher 1 ; A. Durand-Petiteville 2 ; V. Cadenat 1 and T. Sentenac 3

Affiliations: 1 CNRS, LAAS, 7 Avenue du Colonel Roche, F-31400 Toulouse, France, Univ. de Toulouse, UPS, F-31400, Toulouse and France ; 2 Mechanical Department of Federal University of Pernambuco (UFPE), Recife, Brazil {eleflech, cadenat and sentenac}@laas.fr ajsd@cin.ufpe.br ; 3 CNRS, LAAS, 7 Avenue du Colonel Roche, F-31400 Toulouse and France

Keyword(s): Agricultural Robotics, Multi-arms, Non-linear Model Predictive Control, Image based Visual Servoing.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Robotics and Automation

Abstract: This paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to control the arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into account the dynamic of the environment as well as the various constraints inherent to the mechanical system, visual servoing manipulation and shared workspace. Our solution has been evaluated in simulation using on PR2 arms model. Different models of visual features prediction have been tested and the entire VPC strategy has been run on various cases. The obtained results show the interest and the efficiency of this strategy to perform a fruit picking task.

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Paper citation in several formats:
Flécher, E.; Durand-Petiteville, A.; Cadenat, V. and Sentenac, T. (2019). Visual Predictive Control of Robotic Arms with Overlapping Workspace. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 130-137. DOI: 10.5220/0008119001300137

@conference{icinco19,
author={E. Le Flécher. and A. Durand{-}Petiteville. and V. Cadenat. and T. Sentenac.},
title={Visual Predictive Control of Robotic Arms with Overlapping Workspace},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2019},
pages={130-137},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008119001300137},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Visual Predictive Control of Robotic Arms with Overlapping Workspace
SN - 978-989-758-380-3
IS - 2184-2809
AU - Flécher, E.
AU - Durand-Petiteville, A.
AU - Cadenat, V.
AU - Sentenac, T.
PY - 2019
SP - 130
EP - 137
DO - 10.5220/0008119001300137
PB - SciTePress

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