Motion Planning of Robot Manipulator for Cucumber Picking

In order to realize the automation and intelligence of agricultural product picking operations, and to improve the efficiency of picking operations, a cucumber picking motion planning scheme at velocity level is presented based on the pseudoinverse method. For convenience of discussion, the kinematics model of the picking robot is given out using the Denavit-Hartenberg parameters method. To improve the task execution efficiency, it is better to remain a higher joint-velocity when the tracking tasks shifting. And the presented kinematic planning scheme can readily give a solution to the joint velocity jump arising at the motion tasks shifting time. Moreover, to eliminate the accumulated positioning error appearing with the velocity improvement, such a motion scheme incorporates the Zhang dynamics method to generate the error eliminating velocity for the end-effector. The MATLAB software is used to simulate the trajectory planning of the three degrees of freedom robot manipulator. The simulation results demonstrate that the presented motion planning scheme has good accuracy and can successfully complete the robot motion planning tasks.