Automation in Agriculture: Capsicum Harvesting Using GRBL and Arduino-Driven Cartesian Robot

Abstract

This study explores the implementation of a GRBL and Arduino-driven Cartesian robotic arm integrated with depth sensor for harvesting bell peppers in protected cultivation. Utilizing linear actuators for precise movement along the X, Y, and Z axes, the system enhances harvesting efficiency while minimizing crop damage and maintaining high accuracy. The study emphasizes the careful selection of stepper motors based on holding torque to ensure optimal performance. Through statistical analysis, an optimal linear travel speed of 0.83 cm s-l was identified, resulting in accurate harvesting measurements of 1 mm for the developed cartesian robotic arm. Furthermore, the calibration of depth sensor with cartesian robot aids to reach the end effector accurately towards the bell pepper. The findings highlight the potential of robotic automation to improve agricultural productivity and sustain ability.