Pollination robot and position and pose calculation method and position and posture calculation device of mechanical arm thereof

Abstract

The invention provides a pollination robot and a position and pose calculation method and a position and posture calculation device of a mechanical arm thereof, wherein the position and pose calculation method includes the following steps: determining a coordinate of a pistil to be pollinated in a world coordinate system, and determining a pollination plane according to the coordinate of the pistil in the world coordinate system; determining pollination space according to the pollination plane and the pollination radius; obtaining intersecting parts of motion space of a fourth axis mechanicalarm and the pollination space in order to obtain feasible space of the fourth axis mechanical arm; and obtaining the position and pose of the mechanical arm according to the coordinate of the pistil in the world coordinate system, the feasible space of the fourth axis mechanical arm and the motion space of the fourth axis mechanical arm. According to the method, the multi-stage restriction methodcan be started from the fourth axis, without the need for inverse solution; and the position and pose of the mechanical arm can be determined by using the method of mechanical arm forward kinematics,so that acceleration and velocity curves are continuous without sudden change, and the accuracy of the position and posture of the pollination robot 's mechanical arm is improved.

Description

technical field [0001] The invention relates to the technical field of agricultural equipment, in particular to a method for calculating the pose of a mechanical arm of a pollination robot, a device for calculating the pose of a mechanical arm of a pollination robot, and a pollination robot. Background technique [0002] Most of the fruit trees need cross-pollination to produce normal results, and in the absence of pollination trees and bad weather, the natural pollination of the fruit trees will be adversely affected, and artificial pollination is required at this time. For example, the pollination of dragon fruit, the natural pollination of dragon fruit flowers is relatively difficult, and artificial pollination is required, and dragon fruit is a typical nocturnal flowering plant, which usually blooms from evening to early morning, and gradually withers in the early morning until it completely withers after being exposed to sunlight. This is time-consuming and laborious fo...

AI Technical Summary

Problems solved by technology

However, when the inverse solution is performed in Cartesian space, there will be a singular solution phenomenon, and the calculation amount is too large, and the curves of velocity and acceleration in the joint space are discontinuous, and sudden changes will occur

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