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In this paper, we present a solution for robot arm-controlled agriculturalspraying, handling the spraying task as a constrained prioritized 3T2R task.3T2R tasks in robot manipulation consist of three translational and tworotational degrees of freedom, and are frequently used when the end-effector isaxis-symmetric. The solution presented in this paper introduces aprioritization between the translational and rotational degrees of freedom ofthe 3T2R task, and we discuss the utility of this kind of approach for bothvelocity and positional inverse kinematics, which relate to continuous andselective agricultural spraying applications respectively.

Constrained Prioritized 3T2R Task Control for Robotic Agricultural Spraying