Kinematic Analysis and Trajectory Planning Simulation of Citrus Picking Manipulator

Abstract

Trajectory planning is the premise of studying robot control. This study takes PUMA560 robotic arm as the research object and applies it to citrus picking. This research carried out kinematics analysis and simulation on its picking process, and then performed trajectory planning and workspace analysis. Firstly, the kinematics analysis and simulation of the picking robot arm were carried out in the forward and reverse direction, and the kinematics model was established by Denavit-Hartenberg method. Secondly, the trajectory planning of the robotic arm based on quintic polynomial interpolation is performed in the joint space, and the fitting curves of joint angular displacement, angular velocity and angular acceleration are plotted respectively. Finally, the working space of the picking manipulator is analysed and its working space diagram is drawn. The simulation results show that the trajectory planning and workspace drawing methods selected in this study are effective for the trajectory planning of citrus picking manipulator and provide theoretical support for the control research of citrus picking manipulator.