The performance of the robot was assessed by its suitability for the specified task.

Thus, typical fruit motions were investigated. Also, a picking envelope was established which

defined the volume with respect to the end-effector in which a fruit must be located to be

picked. These characteristics were used to relate the task of picking citrus fruit to performance

requirements for each of the robot's joint motion controllers.

 The controllers achieved acceptable robot performance during a normal pick cycle.

Tests of the velocity and position controllers for all of the joints showed that these controllers

met or exceeded the established requirements. The vision controllers achieved success when

subjected to fruit with slower motions. For large, fast fruit motions, however, the robot was

required to wait for the fruit to slow before a successful pick attempt was achieved.