20.500.12556/RUL-190875 Robotsko podprta endoterapija dreves Robotic supported tree endoterapy This paper presents a robotic system for tree endotherapy, a targeted alternative to conventional spraying that reduces environmental exposure and operator workload. Manual injections on apple trees were analyzed to define key process requirements. Pressure measurements during manual applications showed a median injection pressure of 67 kPa, with excessive pressure causing bark cracking, while penetration-force tests showed a median needle insertion force of 593 N. Based on these results, a three-degree-of-freedom TRT robotic mechanism was developed, integrating RGB-D perception, SAM-based trunk segmentation, injection-point selection, needle insertion, and peristaltic dosing with pressure sensing. The application procedure includes mechanism positioning, controlled insertion, and pressure-limited injection. The proposed system demonstrates the feasibility of precise, automated, and environmentally preferable tree endotherapy. robotika endoterapija varstvo rastlin pametno in precizno kmetijstvo robotics endotherapy plant protection smart and precision agriculture true false true Slovenski jezik Angleški jezik Neznano 2026-11-05 15:35:40 2026-11-05 15:35:44 2026-11-07 03:38:25 0000-00-00 00:00:00 2026 0 0 Str. 174-177 0000-00-00 NiDoloceno Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52 2591-0442 300889859 292311811 RAZ_Zindovic_David_2026.pdf RAZ_Zindovic_David_2026.pdf 1 A8284EC958C1D941FFE5E30928585200 751054be470b6d47560974644594d3a4828c8ea5185c5fc73c2dc580d3a96a5a 1c39b18f-d926-11f1-aea2-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=252632 https://erk.fe.uni-lj.si/2026/papers/zindovic(robotsko_podprta).pdf 0 2b88b003-d926-11f1-aea2-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=252633 Fakulteta za elektrotehniko 0 0 0