Research on Image-Based Fuzzy Visual Servo Forpicking Robot

  • Song Jian
Conference paper
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 293)


An open eggplant picking robot experiment system is developed successfully which includes a arthral manipulator with 4 DOF, a motion controller, a color image processing card, a camera and a PC. The fixed bilateral threshold based histogram is adopted to segment the G-B gray images of eggplant in the growth environment.. To meet the vision requirement of the eggplant picking robot, the object's characters, such as outline, area, center of gravity, enclosing rectangle and the point to cut off, are extracted. We applied fuzzy control to the visual servo of picking robot and selected the fruit image's centre of gravity coordinate as variable for the fuzzy control system to create a fuzzy controller. The output control was modified by the self-adjustment factor and thus a fuzzy control diagram for the precise output control was obtained. The results show that the image-based picking robot fuzzy visual servo control overcomes time variation, nonlinearity and strong coupling of the robot visual servo control and has high response speed and good robustness.


Fuzzy Control Fuzzy Controller Visual Servo Fuzzy Reasoning Motion Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. Hollingum Jack. Robot in agriculture, Industrial Robot, 1999, 26(6):438–445CrossRefGoogle Scholar
  2. Kondo N, Monta M and Fujiura T. Fruit harvesting robot in Japan, Adv. Space Res.,1996, 18(1/2):181–184Google Scholar
  3. Liang Xifeng, Miao Xiangwen, Cui Shaorong, et al. Experiments of optimization and simulation on kinematics of a tomato harvesting manipulator, Nongye Jixie Xuebao, 36(7), 2005:96–100Google Scholar
  4. Sario Y. Robotics of Fruit Harvesting: A sate-of-the-art review, Journal of Agricultural Engineering Research, 1993, 54(4):265–280CrossRefGoogle Scholar
  5. Shigehiko Hayashi, Katsunobu Ganno, Yukitsugu Ishii, et al. Robetic harvesting system for eggplants, JARQ 2002, 36(3):163–168Google Scholar
  6. Song Jiian, Zhang Tiezhong, Xu Liming, et al. Research actuality and prospect of picking robot for fruits and vegetables, Nongye Jixie Xuebao, 37(5), 2006:158–162Google Scholar
  7. Sun Honglin, Sun Wei, Shi Yunqiu. A robot visual servo system based on fuzzy control, Science Technology and Engineering, 2006, 6(17):2661–2665Google Scholar
  8. Wang Jianhua, Zhao Xiaoguang, Tian Min. Research on tracking control of a 5-DOF visual servo robot, Robot, 2005, 27(3):215–219Google Scholar
  9. Weiss L E, Sanderson, A C, Neuman C P. Dynamic sensor-based control of robots with visual feedback, IEEE J Robot Automation, 1987, 3(5):404–417CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media, LLC 2009

Authors and Affiliations

  1. 1.College of machineryWeifang UniversityWeifangP. R. China
  2. 2.College of machineryWeifang UniversityWeifangP. R. China

Personalised recommendations