Perception
The following table shows the tests performed to test the cornstalk width detection.
| Test Performed | Metric | Conclusion |
|---|---|---|
| Depth Movement | ± 0.45 mm | Good for distances > 10 cm |
| Horizontal Movement | ± 3.65 mm | Minor difference due to image distortion |
| Yaw Angle | ± 1.20 mm | Performed as expected |
| Roll Angle | N/A | Stalk not detected at higher angles |
| Width | ± 1 mm | Performed as expected |
| Ovular Measurement | N/A | Performed as expected |
| Occlusion | N/A | Occluded regions detected with lower conf. |
Manipulation
| Test Performed | # Tests | Grasp Region | Success | Conclusion |
|---|---|---|---|---|
| Approach and Sweep Cornstalks | 20 | y > 0.6 x > 0.2 x <= 0.2 | 100% | xArm performed as expected |
| Approach and Sweep Cornstalks | 10 | y < 0.6 x > 0.2 x <= 0.2 | 80% | xArm workspace is very limited with corn rows closer to base. Singularities faced in planning. |
| Hook Cornstalks | 20 | y > 0.6 x > 0.2 x <= 0.2 | 90% | xArm performed as expected |
| Hook Cornstalks | 10 | y < 0.6: x > 0.2 x <= 0.2 | 90% | xArm workspace is very limited with corn rows closer to base. Singularities faced in planning. |
End Effector
| Tests Performed | # Tests | Success | Conclusion |
|---|---|---|---|
| Repeatability | 8 | 100% | Gripper is reliable |
| Varying DIA | 8 | 100% | Gripper can handle 17-45 mm DIA cornstalks effectively |
| Varying Orientation | 7 | 100% | Sensor insertion is not highly dependent on stalk orientation |
| Varying X-Offset | 3 | 0% | Need simple visual servoing |
| Varying Y-Offset | 4 | 100% | Insertion quality not dependent on Y-offset |