000151390 001__ 151390
000151390 005__ 20250307114716.0
000151390 0247_ $$2doi$$a10.1016/j.compag.2025.109931
000151390 0248_ $$2sideral$$a143094
000151390 037__ $$aART-2025-143094
000151390 041__ $$aeng
000151390 100__ $$aAghajanzadeh, Omid
000151390 245__ $$a3-D shape control of deformable linear objects for branch handling using an adaptive Lyapunov-based scheme
000151390 260__ $$c2025
000151390 5060_ $$aAccess copy available to the general public$$fUnrestricted
000151390 5203_ $$aDespite its various applications, robotic manipulation of deformable objects in agriculture has experienced limited development so far. This is due to the specific challenges in this domain, i.e., the variety of objects in this field is wide, and the deformation properties of the objects cannot be easily recognized in advance. In addition, deformable objects generally have complex dynamics and high-dimensional configuration space. In this paper, the manipulation of deformable linear objects (DLOs) is addressed by considering these challenges. Concretely, a new indirect adaptive control method is proposed to manipulate DLOs by controlling their shape in 3-D space towards previously defined targets, with a specific focus on agricultural applications. The proposed method can follow a desired dynamic evolution of the shape with a smooth deformation that brings about a stable gripper motion. This property of the method can protect the object from possible damages, even under large deformations, which is crucial in agricultural scenarios. An adaptation law is leveraged for estimating the system parameters, and Lyapunov analysis is employed to study the validity of the proposed control scheme. The scheme can be applied to diverse objects that can be modeled as linear, including tree branches or other rod-like structures. The effectiveness of the scheme is demonstrated through various experiments where, using shape feedback obtained from a 3-D camera, a robotic arm controls the shape of a flexible foam rod and of branches of different plants.
000151390 536__ $$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00$$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00
000151390 540__ $$9info:eu-repo/semantics/embargoedAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
000151390 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000151390 700__ $$aShetab-Bushehri, Mohammadreza
000151390 700__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza
000151390 700__ $$aCorrales Ramon, Juan Antonio
000151390 700__ $$aCariou, Christophe
000151390 700__ $$aLenain, Roland
000151390 700__ $$aMezouar, Youcef
000151390 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000151390 773__ $$g232 (2025), 109931 [11 pp.]$$pComput. electron. agric.$$tComputers and Electronics in Agriculture$$x0168-1699
000151390 8564_ $$s4856719$$uhttps://zaguan.unizar.es/record/151390/files/texto_completo.pdf$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2027-05-01
000151390 8564_ $$s1844737$$uhttps://zaguan.unizar.es/record/151390/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2027-05-01
000151390 909CO $$ooai:zaguan.unizar.es:151390$$particulos$$pdriver
000151390 951__ $$a2025-03-07-09:33:40
000151390 980__ $$aARTICLE