their present positions. For the slider to be retracted from the canopy at a constant velocity,

the revolute joints were to hold their positions. The instruction to go to the home location was

provided in the form of positions for each of the joints.

 Thus, three modes of control were necessary for the orange-picking robot. First, each of

the joints was to be moved at a constant velocity by a velocity controller. Second, to cause the

joints to go to specified positions, position controllers were needed. Third, vision controllers

were required to change the position of the revolute joints to point the end-effector toward a

targeted fruit. The development of these three motion control strategies was the overall goal

of this work. The accomplishment of this goal would provide controllers which would take

setpoints from the intelligence base and accomplish the desired result in a smooth and accurate

manner.