Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture

doctoral thesis

• Title (croatian): Optimalno upravljanje mobilnim manipulatorom za zadatke prskanja i plijevljenja u vinogradarstvu
• Author: Ivo Vatavuk
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Marko Švaco (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2023-12-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering
• Universal decimal classification (UDC): 004 - Computer science and technology. Computing. Data processing

Abstract

This thesis deals with the application of optimization and optimal control for the execution of viticulture related tasks with a mobile manipulator. The focus is on viticultural procedures that require manipulation for their successful execution, namely viticultural spraying and suckering. The central challenge tackled in this thesis is the application of prioritized optimization and optimal control to resolve different kinds of redundancies that arise in the execution of mentioned tasks. Depending on the needs of the specific task, redundancy resolution is performed in various spaces: task space, joint velocity space and joint position space.
Viticultural spraying refers to the process of applying a protective spraying agent to grapevine plants. Two variants of the spraying task are considered: applying the spraying agent to the entire plant canopy and to a specific part of the plant.
The viticultural suckering task refers to the removal of shoots, buds, and suckers emerging at the lower part of the grapevine plant. Both the robotic tool developed for this task and the accompanying control method are presented. The suckering control method utilizes the torque-sensing capability of the developed tool for tactile exploration, maintaining physical contact with the plant trunk during the suckering process. This enables the robot arm to explore and map the trunk relying solely on tactile feedback, without the need to previously detect its shape.

Abstract (croatian)

Ova doktorska disertacija bavi se primjenom optimizacije i optimalnog upravljanja za izvršavanje zadataka povezanih s vinogradarstvom mobilnim manipulatorom. Fokus je na vinogradarskim zadacima koji zahtijevaju manipulaciju za uspješnu izvedbu, prskanje i plijevljenje. Središnji izazov kojim se disertacija bavi je primjena prioritizirane optimizacije i optimalnog upravljanja za razrješavanje različitih redundancija koje su prisutne u izvođenju navedenih zadataka. Ovisno o potrebama pojedinog zadatka, razrješavanje redundancije se izvršava u različitim prostorima: prostoru zadatka, prostoru brzina zglobova te prostoru pozicija zglobova.
Vinogradarsko prskanje odnosi se na zadatak nanošenja zaštitnog sredstva za prskanje na biljke vinove loze. Dvije varijante zadatka prskanja su razmotrene: nanošenje sredstva na čitavu krošnju te na specifične dijelove biljke.
Zadatak vinogradarskog plijevljenja odnosi se u ovom kontekstu na zadatak uklanjanja izdanaka i pupova koji se pojavljuju na donjem dijelu biljke vinove loze. Upravljačka metoda za plijevljenje koristi sposobnost mjerenja momenta razvijenog alata za istraživanje na temelju dodira, održavajući kontakt s deblom biljke vinove loze tijekom procesa plijevljenja. Ovo omogućava robotskoj ruci da istraži i mapira deblo oslanjajući se isključivo na taktilnu povratnu informaciju, bez potrebe za prethodnom detekcijom njegovog oblika.

• Keywords: Mobile Manipulation; Optimization and Optimal Control; Redundancy Resolution; Agricultural Robotics
• Keywords (croatian): mobilna manipulacija; optimizacija i optimalno upravljanje; razrješenje redundantnosti; poljoprivredna robotika
• Language: english
• URN:NBN: urn:nbn:hr:168:912311
• Promotion: 2024
• Study programme: Title: Computer Science; Study programme type: university; Study level: postgraduate; Academic / professional title: Doktor znanosti (Doktor znanosti)
• Type of resource: Text
• Extent: xii, 95 str. ; 30 cm
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-04-03 10:50:41