yet to be applied commercially.

Each end effector was designed according to the nature of the task and the shape and size of the target fruit. For instance, the end effectors used for harvesting were designed to grasp, cut, and push the bunches of grapes.

Berry thinning is another operation performed on the grapes, and is used to enhance the market value of the grapes, increase the grapes' size, and facilitate the bunching process. For berry thinning, an end

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