Constrained Prioritized 3T2R Task Control for Robotic Agricultural Spraying

Abstract-- In this paper, we present a solution for robot arm-controlled agricultural spraying, handling the spraying task as a constrained prioritized 3T2R task. The solution presented in this paper introduces a prioritization between the translational and rotational degrees of freedom of the 3T2R task, and we discuss the utility of this kind of approach for both velocity and positional inverse kinematics, which relate to continuous and selective agricultural spraying applications respectively. Figure 1: The scenario in this paper involves mounting the spray wand for manual vineyard spraying as the endeffector I. Introduction The nozzle used to apply the spraying agent is an axis-symmetric tool. Agricultural robotics is a rapidly advancing research field that focuses on developing and deploying robotic technology for various agricultural tasks. The goal is to enhance the efficiency and sustainability of different velocity of the spraying frame, depicted in Figure 1, and agricultural procedures and address labor shortages.