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In this paper, we present torque analysis and energy consumption of a robot assisting in vertical farming processes: seedling, transplanting and harvesting. The task environment was modelled using the MATLAB Toolbox and inverse dynamics calculations were carried out to determine joint torques and power requirements. Numerical simulations were conducted for each task, followed by hardware validation using the conventional four degree of freedom (DoF) Kinova MICO robot to ensure the accuracy of simulated results. To evaluate the system accuracy, the percentage error between the simulation and hardware results was also calculated. This analysis is crucial for optimizing robotic operations, improving energy efficiency and designing sustainable agricultural automation solutions.

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Energy Consumption Analysis for a Robotic Arm in Vertical Farming Process: An Experimental Validation

  • 会议论文

  • 发表日期：

    2026年

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  • Priyanka Verma,
  • Ekta Singla

摘要

In this paper, we present torque analysis and energy consumption of a robot assisting in vertical farming processes: seedling, transplanting and harvesting. The task environment was modelled using the MATLAB Toolbox and inverse dynamics calculations were carried out to determine joint torques and power requirements. Numerical simulations were conducted for each task, followed by hardware validation using the conventional four degree of freedom (DoF) Kinova MICO robot to ensure the accuracy of simulated results. To evaluate the system accuracy, the percentage error between the simulation and hardware results was also calculated. This analysis is crucial for optimizing robotic operations, improving energy efficiency and designing sustainable agricultural automation solutions.