Quick Motion Path Plan for Joint-Robot to Pick Tomato under Free-Obstacle
To improve the efficiency of picking the fruit, a kind of quick motion path plan method for fruit-picking robot under free-obstacle was proposed in this paper. Firstly, the method obtained a series of points along straight path at equal internal, and the gripper center was designed to pass thorough these points. Inverse kinematics formulas of the robot arm were used to solve joint angles of the robot arm when the gripper center will pass thorough each point. To make the robot arm guide the gripper to reach quickly the object point, the joint angles were optimized to determinate according to the principle of energy optimization. The test of picking tomato showed that the method can both reproduce the motion of the gripper along linear points at constant speed and keep the shortest motion path, which are benefit to grip the fruit steadily. The method has a low amount of calculation, better real-time and may provide a reference for joint robot to pick the fruit quickly.
J. J. Yin et al., "Quick Motion Path Plan for Joint-Robot to Pick Tomato under Free-Obstacle", Applied Mechanics and Materials, Vols. 229-231, pp. 2225-2228, 2012