Intelligent Control of Actuators using Current Sensor Feedback for a Coconut Tree Climber

In India, due to the increasing existence of modern technologies in the field of agriculture, there is an acute shortage of human coconut tree climbers to harvest coconuts. Coconut tree farmers or individuals who own few coconut trees and coconut industry suffer a lot due to the reduced manpower. As a result, coconuts are not harvested on time, thereby resulting in increased coconut cost. Recently, distinctive agriculture researchers proposed diverse varieties of coconut tree climbers and harvester models. The coconut tree structure will always be incomparable and unpredictable. Notches in the surface, twist and width variation in the coconut tree trunk are considered as the primary challenge for the unmanned climbers. A novel strategy is proposed in this paper to solve the issues caused by these variations in the tree trunk with the assistance of a closed-loop system framework for holding the tree. The current feedback will be utilized to prepare the climber for every tree trunk. The linear actuator and current sensor combinations are utilized for developing a holding setup that adapts to the variations in the tree trunk.