Grabbing path control method of sphere-like fruit picking mechanical arm

Abstract

The invention relates to a grabbing path control method of a sphere-like fruit picking mechanical arm, which solves the problems that the inverse solution of the picking mechanical arm has no solution and a clamping jaw at the tail end of a planned path collides with fruits, and utilizes the advantage that the sphere-like fruits can be grabbed in various postures. When the inverse solution of the mechanical arm cannot be solved by the solved posture of the tail end of the mechanical arm, a genetic algorithm is used for solving the posture of the tail end of the mechanical arm capable of reaching the fruit position, multiple times of solving are conducted by moving the position of the picking robot, the mechanical arm inverse solution solving success rate is increased, and then the picking success rate is increased; a method for adding interpolation points in the picking direction of the picking robot is provided, so that the picking robot reaches the position of the fruit along the direction of the opening of the end effector towards the fruit during grabbing, the picking success rate of the picking robot is improved, and the fruit damage rate is reduced.

Description

technical field [0001] The invention relates to the technical field of robot application, and relates to a grasping path control method of a quasi-spherical fruit picking mechanical arm. Background technique [0002] With the increase in the scale of plant greenhouses and plant factories and the increase in labor costs, the intelligentization of fruit and vegetable picking and harvesting has become an urgent demand for agriculture in various countries. With technological breakthroughs in the fields of computer and image processing, fruit and vegetable picking robots have developed rapidly. For example, the apple picking robot developed by the University of Washington in the United States, the strawberry picking robot developed by the Norwegian University of Life Sciences, and the sweet pepper picking robot developed by Ben Ha Gurion University of the Negev in Israel and used in commercial greenhouses. Picking robot technology is becoming more and more mature and gradually d...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems that the reverse solution of the picking manipulator has no solution and the jaws at the end of the planned path collide with the fruit, the advantages of spherical fruits that can be grasped in various postures can be used. In the inverse solution of the arm, the genetic algorithm is used to solve the posture of the end of the mechanical arm that can reach the fruit position, and the position of the picking robot is moved for multiple times to improve the success rate of the inverse solution of the mechanical arm, thereby improving the success rate of picking; The method of adding interpolation points in the picking direction of the picking robot enables the picking robot to reach the fruit position along the direction of the end effector opening towards the fruit when picking, so as to improve the picking success rate of the picking robot and reduce the fruit damage rate

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