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