A New Trajectory Planning Method of 6-DOF Apple Picking Manipulator

In order to control the 6-DOF apple picking manipulator to complete the picking task accurately and safely, a new trajectory planning method of 6-DOF apple picking manipulator is studied. Based on the mathematical model of the 6-DOF apple picking manipulator, the pose information and arm shape information of the forward and reverse motion of the manipulator are analyzed. On the basis of the obstacle avoidance method for the apple picking manipulator based on the improved artificial potential field, the obstacle model is constructed to obtain the obstacle distribution information. Through the two-way planning algorithm of the manipulator obstacle avoidance based on the improved artificial potential field method, the pose information and arm shape of the forward and reverse motion of the manipulator are controlled. On this basis, the trajectory planning control method of 6-DOF apple picking manipulator based on sliding mode PID control is used to control the manipulator to pick apples accurately and safely. After testing, the 6-DOF apple picking manipulator can realize the safe picking of apples according to the set picking position and speed.(c) 2022 Jordan Journal of Mechanical and Industrial Engineering. All rights reserved