*Article* **Conventional Industrial Robotics Applied to the Process of Tomato Grafting Using the Splicing Technique**

**José-Luis Pardo-Alonso 1, Ángel Carreño-Ortega 1,\*, Carolina-Clara Martínez-Gaitán 2, Iacopo Golasi <sup>3</sup> and Marta Gómez Galán <sup>1</sup>**


Received: 10 November 2019; Accepted: 9 December 2019; Published: 12 December 2019

**Abstract:** Horticultural grafting is routinely performed manually, demanding a high degree of concentration and requiring operators to withstand extreme humidity and temperature conditions. This article presents the results derived from adapting the splicing technique for tomato grafting, characterized by the coordinated work of two conventional anthropomorphic industrial robots with the support of low-cost passive auxiliary units for the transportation, handling, and conditioning of the seedlings. This work provides a new approach to improve the efficiency of tomato grafting. Six test rates were analyzed, which allowed the system to be evaluated across 900 grafted units, with gradual increases in the speed of robots work, operating from 80 grafts/hour to over 300 grafts/hour. The results obtained show that a higher number of grafts per hour than the number manually performed by skilled workers could be reached easily, with success rates of approximately 90% for working speeds around 210–240 grafts/hour.

**Keywords:** tomato grafting; splice grafting technique; agricultural robot; automated grafting; agricultural machinery
