Print Email Facebook Twitter A Geometry-Based Grasping Method for Vine Tomato Title A Geometry-Based Grasping Method for Vine Tomato Author de Haan, Taeke (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Babuska, R. (mentor) Kulkarni, P.V. (graduation committee) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Systems and Control Date 2020-10-26 Abstract In this thesis, a geometry-based grasping method for vine-tomato is proposed. The method utilizes a geometric model of the robotic hand and truss to determine an optimal grasping location on the truss stem. This allows grasping a truss without requiring delicate contact sensors or complex mechanical models. A computer vision pipeline is developed to identify required geometric features of the tomatoes and truss stem. To validate the proposed grasping method, real-world experiments were conducted using an RGB-D camera and a robotic manipulator. By combining plastic and real stems with artificial tomatoes two types of trusses were constructed. A success rate of 92% was obtained on the former type and 83% on the latter. The newly developed method is shown to be capable of grasping vine tomato. For real-world implementation future studies are needed, several recommendations are given. Subject graspingvine-tomatoroboticscomputer visionagriculturegeometry To reference this document use: http://resolver.tudelft.nl/uuid:0db0437e-b93e-4b33-8595-5f73b88c0264 Embargo date 2021-10-26 Part of collection Student theses Document type master thesis Rights © 2020 Taeke de Haan Files PDF main.pdf 64.56 MB Close viewer /islandora/object/uuid:0db0437e-b93e-4b33-8595-5f73b88c0264/datastream/OBJ/view