• Journal of Bio-Environment Control
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• v.12 no.2
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• pp.57-62
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• 2003

In this study, a robotic manipulator for harvesting cucumber was developed. The objective of this research was to design and to construct a robotic manipulator specifically tailored to harvest cucumber in the greenhouse. The system was consisted of an integrated end-efffctor, an image processing system and a controlling system. Especially, the image processing system detected the quality of cucumber within each plant in order for the computer to furnish harvest instructions to the manipulator. In all tests of cucumber, the success rate for cucumber harvest was 84％ in the greenhouse. End-effector, image processing system and controlling system showed good performance. Based on the results of this research the following recommendations are made for further study. Besides harvesting cucumbers, the oldest leaves, creepers and the youngest small side leaves need to be removed.