Development of an automatic control system for a hydraulic pruning robot

Chaowei Huang, Dexuan Cai,Weizu Wang,Jun Li,Jieli Duan,Zhou Yang

Computers and Electronics in Agriculture（2023）

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摘要

•A robotic system was presented for automated geometric pruning of fruit trees.•A control strategy based on rolling observations and continuous prediction algorithm was developed.•The control accuracy of all cylinders and operational bars were within ± 1.8°.•The waypoints tracking accuracy and the control lag were investigated.

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关键词

Fruit tree,System modeling,Robotic pruning,Hydraulic robot,Tracking control

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