prikaz prve stranice dokumenta Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture
  Download
PDF 47.91 MB
doctoral thesis
Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:912311
Vatavuk, Ivo
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Vatavuk, I. (2023). Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:912311

Vatavuk, Ivo. "Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:912311

Vatavuk, Ivo. "Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:912311

Vatavuk, I. (2023). 'Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 01 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:912311

Vatavuk I. Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 May 01] Available at: https://urn.nsk.hr/urn:nbn:hr:168:912311

I. Vatavuk, "Optimal control of a mobile manipulator for spraying and suckering tasks in viticulture", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:912311

Metadata
TitleOptimal control of a mobile manipulator for spraying and suckering tasks in viticulture
Title (croatian)Optimalno upravljanje mobilnim manipulatorom za zadatke prskanja i plijevljenja u vinogradarstvu
AuthorIvo Vatavuk
MentorZdenko Kovačić (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberMarko Švaco (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2023-12-21, 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
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:168:912311
Promotion2024
Study programmeTitle: Computer Science
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti (Doktor znanosti)
Type of resourceText
Extentxii, 95 str. ; 30 cm
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-04-03 10:50:41