Design and experimental validation of robotic manipulator for indoor farming

Nowadays, indoor farming is a well-known approach to efficient farming with less consideration of pests. However, automating the harvest and repetitive actions such as spraying cannot be handled by humans alone. One of the alternative solutions is employing a robot. Where in this study, we aim to develop a robot for indoor farming purposes. A robot manipulator with 3-degree of freedom was chosen. This 3-DOF robot manipulator focuses on kinematics model control for joint movement to achieve the desired end-effector. The robot movements were simulated and validated. The manipulator robot prototype was fabricated using 3D printing PLA as the material. The results of calculating the mathematics model using the MATLAB GUI with the prototype with 3D printing were validated by comparing the difference in X, Y, and Z positions. As a result, the average difference for the x-position is 0.31 cm, the y-position is 0.446 cm, and the z-position is 0.751 cm.