Motion trajectory planning of picking robot for eggplant

In order to realize accuracy control, a trajectory planning algorithm is designed for the 4 DOF articulated eggplant-picking robot. The structure selection of the robot is made according to the eggplant´s growth circumstance and distribution space. The robot kinematics model is established with D-H method and the forward kinematics solution for the robot is obtained. The inverse kinematics solution is solved by using the simplified inverse transformation method The method of using triple polynomial in joint space is adopted to plan the motion trajectory of the 4-DOF picking robot for eggplant. The repeat location accuracy is ±2.5 mm according to repetitious test. The experiments on the complete machine show the robot with 4 DOF worked stably and credibly, meet the demand of the picking.