SOFT FRUIT GRADING USING A ROBOTICS GRIPPER

摘要

Development of a method for handling soft fruit and measuring its ripeness is discussed. The force signal used in this technique is derived from the armature current of the motor driving the gripper. The armature current is modelled and monitored stochastically in order to derive force information. The computer simulation and experimental work indicate that the behaviour of the armature current at the time of contact of the gripper's fingers with the fruit is closely associated with the fruit's flesh firmness. On the basis of the features derived from armature current, an online algorithm for measurement of fruit ripeness has been developed. A statistical pattern recognition method classifies the fruit according to its maturity. The results obtained so far are encouraging.