Fecha de publicación: -- Fuente: WIPO "tomato" A fruit harvesting system and a method of harvesting fruit are disclosed. The system includes a platform, a robotic arm mounted on the platform, an end effector configured to grasp a fruit and sever a stem of the fruit with a controlled residual stem length, and a recognition system. The robotic arm has multiple degrees of freedom. The end effector is operably connected to the robotic arm and includes a gripper having a plurality of rotatable fingers configured to open and close around the fruit, and a cutting mechanism configured to sever the stem of the fruit when the rotatable fingers close around the fruit. The recognition system is configured to identify a location of the fruit and instruct the robotic arm to guide the end effector to the location of the fruit.