Trajectory planning of a five DOF agricultural picking robot

Abstract

In order to solve the problems of the five DOF joint agricultural picking robot's trajectory planning problem,the DH parameters were analyzed and the kinematics model was established,an algorithm was put forward based on the comprehensive application of analytic and geometric method,and the inverse kinematics analytical solution was gotten.On this work,a trajectory planning method was used whose acceleration functions are several sine functions.The simulation results indicate that,the trajectory planning method presents the shortest operating time,and also makes the robot move smoothly,without vibration and overshoot phenomenon.It can meet the robot's request of completing the task fast and accurately.