Trajectory planning of a five DOF agricultural picking robot

LU Junyi， YANG Qinghua， GAO Feng， BAO Guanjun
（Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of
Technology, Ministry of Education, Hangzhou 310014, China）

Abstract: In order to solve the problems of the five DOF joint agricultural picking robots trajectory planning problem，the DH parameters were analyzed and the kinematics model was established, an algorithm was put forward based on the comprehensive application of analytic and geometric method, and  the inverse kinematics analytical solution was gotten. On this work, a trajectory planning method was used whose acceleration functions are several sine functions. The simulation results indicate that, the trajectory planning method presents the shortest operating time, and also makes the robot move smoothly, without vibration and overshoot phenomenon. It can meet the robots request of completing the task fast and accurately.
Key words: agricultural picking robots; inverse kinematics; combination of sine functions; trajectory planning