Development of a Robotic Transplanter for Bedding Plants(III)-Development of a Robotic Transplanter

육묘용 로봇 이식기의 개발(III)-로봇이식기의 개발-

This study was conducted to develop a robotic transplanter for bedding plants. The robotic transplanter consisted of machine vision system, a manipulator, a gripper and plug tray transfer system. The performance of the robotic transplanter was tested and compared by two different transplanting methods, which were to consider the leaf orientation of seedlings and not to. Results of this study were as follows. (1) A cartesian coordinate manipulator for a robotic transplanter with 3 degree of freedom was constructed. The accuracy of position control was $\pm$1 mm. (2) The robotic transplanter with the machine vision system, the manipulator, the gripper and the transfer system was developed and tested with a shovel-type finger. Without considering the orientation of leaves, the success rates of transplanting healthy cucumber seedlings in 72-cell and 128-cell plug-trays were 95.5% and 94.5% respectively. Considering the orientation of leaves, the success rates of transplanting healthy cucumber seedling in 72-cell and 128-cell plug-trays were 96.0% and 95.0% respectively.