Kinematics and trajectory planning of a cucumber harvesting robot manipulator

作     者：Zhang Libin Wang Yan Yang Qinghua Bao Guanjun Gao Feng Xun Yi 

作者机构：The MOE Key Laboratory of Mechanical Manufacture and AutomationZhejiang University of TechnologyHangzhou 310012China 

出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)

年 卷 期：2009年第2卷第1期

页      面：1-7页

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：the Natural Science Foundation of China(50575206) the National High-Tech Research and Development(863)Program of China(2007AA04Z222) 

主　　题：cucumber harvesting robot articulated manipulator trajectory planning cycloidal motion CAN-bus 

摘      要：In order to reduce cucumber harvesting cost and improve economic benefits,a cucumber harvesting robot was *** cucumber harvesting robot consists of a vehicle,a 4-DOF articulated manipulator,an end-effector,an upper monitor,a vision system and four DC servo drive *** Kinematics of the cucumber harvesting robot manipulator was constructed using D-H coordinate frame *** the inverse kinematics which provides a foundation for trajectory planning has been solved with inverse transform *** cycloidal motion,which has properties of continuity and zero velocity and acceleration at the ports of the bounded interval,was adopted as a feasible approach to plan trajectory in joint space of the cucumber harvesting robot ***,hardware and software based on CAN-bus communication between the upper monitor and the joint controllers have been *** results show that the upper monitor communicates with the four joint controllers efficiently by CAN-bus,and the integrated errors of four joint angles do not exceed four *** factors resulting in the errors were analyzed and the corresponding solutions for improving precision are proposed.