Patent ID: 11931890
Assignee: THE STATE OF ISRAEL, MINISTRY OF AGRICULTURE & RURAL DEVELOPMENT, AGRICULTURAL RESEARCH ORGANIZATION (ARO) (VOLCANI INSTITUTE)
Field: Handling (Mechanical engineering)
Classification: CPC B  A | IPC A  B

Claim 7:
8. A human-robot method for performing an agricultural task, the method comprising:
providing a robotic manipulator with an agricultural tool, an imaging device and a laser distance sensor manually coupled to an end effector of said manipulator;
receiving, at a control unit, imagery of a target from said imaging device;
marking, using a human-machine interface (HMI) of said control unit, a target point on said imagery of said target;
receiving, at said control unit, distance information from said laser distance sensor;
calculating, by said control unit, a trajectory for said robotic manipulator to traverse from a scanning location to an execution location at which said agricultural tool is able to effect the agricultural task on said target at said target point, wherein said trajectory is calculated in robot joint space, said robot joint space being defined by a vector whose components are translational and angular displacements of each joint of a robotic link of the robotic manipulator; and
effecting the agricultural task by moving said robotic manipulator and applying said agricultural tool to said target point of said target.