This paper presents the design and development of a versatile autonomous tree climbing & pruning robot for arecanut farming. The robot has a linear frictional force based non-linear self-regulatory system with 9 DOF that adapts itself to changing trunk diameter. The robot chassis is made rigid and light-weight. An on-board battery is the power source. The motion is provided by two DC motors fitted to spiked wheels. A 5 DOF PUMA arm is mounted on the robot for cutting and pruning purpose. The intelligence is based on Digital Image Processing using Object Recognition techniques. Machine vision is through a guiding camera mounted over the Robotic Arm that feeds the OMAP 32-bit Micro-controller made of ARM CORTEX-M3 and Da Vinci processor which has Wavelet based JPEG compression and noise elimination module. A manual override with a display screen allows user to view and control the robot when necessary. © 2010 IEEE.
cited By (since 1996)0; Conference of org.apache.xalan.xsltc.dom.DOMAdapter@35a186d9 ; Conference Date: org.apache.xalan.xsltc.dom.DOMAdapter@7f9c2c10 Through org.apache.xalan.xsltc.dom.DOMAdapter@66110fe3; Conference Code:84018
D. P. Soni, Ranjana, M., Gokul, N. A., Swaminathan, S., and Dr. Binoy B. Nair, “Autonomous arecanut tree climbing and pruning robot”, in International Conference on "Emerging Trends in Robotics and Communication Technologies", INTERACT-2010, Chennai, 2010, pp. 278-282.