Table 4 List of notations
From: Automated harvesting by a dual-arm fruit harvesting robot
Notations | Description |
|---|---|
\(\varvec{D}\) | Bounding box information |
\((X_{camX}, Y_{camX}, Z_{camX})\) | Center of the sphere in the camera coordinate system of Camera X |
R | Radius of the sphere |
\((X_{arm}, Y_{arm}, Z_{arm})\) | Position of the fruit in the robot arm coordinate system |
\(\varvec{T}\) | Rotation and translation matrices between each robot arm and the camera coordinate system |
\(f_{x}\), \(f_{y}\) | Focal length of the camera |
\(c_{x}\), \(c_{y}\) | Image center of the camera |
w, h | Width and height of the image |
\(\varvec{L}\) | Information for all fruits |
\(\varvec{L}_{x}\) | Fruit information of Camera X |
\(\varvec{L}_{All}\) | Fruit information without duplication |
\(\varvec{L}_{Allsorted}\) | Sorted Fruit information |
\(\varvec{P}\) | Position and posture of the end-effector |
\(\varvec{p}\) | Position of the end-effector |
\(\varvec{R}\) | Posture of the end-effector |
\(\varvec{q}\) | Angle of each joint of the robot arm |
\(\varvec{f}^{-1}\) | Nonlinear function of solution of an inverse kinematics problem |
\(d_i\) | Distance between the links of UR arm |
\(\theta _i\) | Angle between the links of UR arm |
\(a_i\) | Length of the links of UR arm |
\(\alpha _i\) | Torsion angle of the links of UR arm |
\({^{i-1}\varvec{T}_i}\) | Homogeneous transformation matrix from one coordinate system to another |
\(q_{init}\) | Start point for path planning |
\(q_{goal}\) | Goal point for path planning |
\(\tau \) | Search tree for path planning |
\(q_{rand}\) | Point which does not contact with any obstacles |
\(q_{near}\) | Point which is closest to \(q_{rand}\) to in the search tree |