This project was developed as part of an academic assignment during our undergraduate studies. The objective of the assignment was to design a robotic manipulator to solve a problem freely chosen by the students, applying the concepts learned throughout the course.
The Grasp-e project consists of a robotic manipulator designed to implement the thinning and harvesting technique in grapevines, with a special focus on table grapes.
This is the third version of Grasp-e, a robotic manipulator developed and improved across three different academic courses, each introducing new challenges and design requirements. The first and second versions can be found in the Graspe repository.
In the first course, we developed the initial version of Grasp-e entirely in simulation using ROS and Gazebo. In the second version, we redesigned the manipulator for real-world implementation, using factory-controlled servo motors.
Finally, in this third version, we modified the servo hardware and electronics to allow the implementation of our own custom control algorithms directly on the manipulator.
This project is licensed under the Business Source License 1.1 (BSL 1.1).
You may use, modify, and distribute this project for personal, academic, and research purposes.
Commercial use requires a separate license agreement with the author.
For inquiries, contact with the authors.
We also developed a Python package that includes a graphical interface to connect with the robot, simulation tools with control modules, real robot data analysis, and more. You can learn more about it here