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5 ROBOT KINEM ATIC M ODEL ................................................ ..................... 45

 M anipulator Kinem atics ............................................................................ 45
 Im aging Kinematics ......................................................................................... 49
 Vision-Servo Kinem atics .................................................................................. 50

6 ROBOT OPEN-LOOP DYNAM ICS ............................................. ................. 55

 Background .......................................... ................. ...................................... 55
 Param eter Estim ation ........................................................ .......................... 58
 Results and Discussion.................................................................................... 64

7 PERFORM ANCE CRITERIA ..................................................... ................... 75

 Background ................................................................................................... 75
 Characteristics of Fruit M otion ................................................ .................... 76
 Picking Envelope Definition .................................................. ...................... 78
 Velocity Control Requirem ents ....................................................................... 82
 Position Control Requirem ents ............................................................................. 84
 Vision Control Requirements .................................................. ...................... 85
 Summ ary of Performance Criteria ................................................................... .... 88

8 CONTROLLER SELECTION AND IMPLEMENTATION ................................... 90

 Controller Selection ............................................................... 90
 Control System Discretization .......................................................... ............ ...... 93
 Controller Im plem entation .............................................................................. 97
 Velocity Controllers ..................................................... ......................... 97
 Position Controllers............................. ................. .................................. 99
 Position Controller With Velocity Control Minor Loop ................................. 101
 Vision Controllers ........................................................................................ 103
 Controller Tuning ................................................................................................ 107
 Velocity Controller Tuning ............................................................................ 110
 Position Controller Tuning ............................................................................. 113
 Position Controller with Velocity Control Minor Loop Tuning ........................ 115
 Vision Controller Tuning................................................................................ 116
 Sum mary ....................................................................................................... 118

9 RESULTS AND DISCUSSION ............................................................................ 120

 Velocity Controller Performance ........................................................................ 120
 Position Controller Performance .......................................................................... 127
 Vision Controller Performance ............................................................................ 131
 Dynam ic Perform ance................................................................................... 131
 Static Perform ance................................................................................... 133
 Overall Controller Perform ance....................... ............. ........................ 137
 Perform ance in the Search Routine................................................................. 137
 Performance During the Pick Cycle ............................................................... 140