The Strawrberry xD robot is a serial manipulator consisting of 4 revolute joints. The end effector has a camera to sense strawberries using computer vision.

Sensing and actuation is processed and controlled by a BeagleBone Black dev board, with telemetry to offload any graphics processing to a remote device.

General workflow:

• Get camera data
• Run the OpenCV strawberry recognition algorithm (target acquisition)
• Selecting the leftmost target, the manipulator will orient itself to make the target circle's centroid as close to the center of the camera frame as possible
• Actuation will then occur to move straight towards the target
• Reaquire camera data
• Reprocess data through CV
• Make position corrections as forward motion continues
• When target circle reaches a threshold radius in the frame, begin rotation of the end effector to harvest the strawberry (rotating right)
• Reset position and re-evaluate targets

Development is intended to be as modular as possible, with additional functionalities rolled out over time.