Constrained Prioritized 3T2R Task Control for Robotic Agricultural Spraying

The research presented in this thesis is a part of an exciting and rapidly growing research field of agricultural robotics, focusing on the development and utilization of robotic systems in agriculture. We present a solution for robot arm-controlled agricultural spraying, handling the spraying task as a constrained prioritized 3T2R task. 3T2R tasks in robot manipulation consist of three translational and two rotational degrees of freedom, and are frequently used when the end-effector is axis-symmetric. 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.