Requisitos para um processo de ordenha mecânica automatizada

Abstract

This work presents the requirements gathering to construct a prototype of a mechanical milking automated.The requirements capture has the purpose to contribute to the development of Brazilian technology for robotic milking, preferably with lower costs.The sistem contain a robotic arm that works through inputs obtained with Computer Vision techniques. The scope of this work involves the gathering of requirements to development of a vision system for identifying the teats and to obtain their coordinates. The gathering of requirements of the prototype was constructed for a controlled environment and initially calibrated. Some tests were made utilizing filters to edge detection as a pre-processing step of the image to the location of the teats.This work involves the study of the direct kinematics to establish the current position of the mechanical arm, and inverse kinematics to determine a possible path for positioning the mechanical arm below the teats.