Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Abstract

Tree Planting Machine (TPM) is subject to a Tree-Planting Robot (TPR) with desired tracking trajectory planning. In this topic, taking the TPR proposed as the analysis object, the positive and inverse solutions of the kinematics are analyzed to explore the optimal trajectory planning. An improved position/posture algorithm, based on the analytical solution of the inverse kinematics of the TPR, is proposed. The trajectory planning strategy for TPR in Cartesian coordinate system and Joint coordinate system is discussed, which is used for parabolic transition linear programming optimization, and the simulation model of TPR trajectory planning is constructed by MATLAB module. Numerical simulation results indicate that the deviation of the TPR trajectory from the expected value is significantly reduced. The proposed improved position/posture algorithm is verified by kinematic analysis, and the TPR followability and trajectory planning accuracy are greatly improved. Toward this goal, a variable trajectory planning can be effectively, and stability adjusted by pre-designed TPM system in the field of ecological tree planting.