The Optimal Trajectory Planning And Implementation Of The Oil-tea Camellia Fruit Picking Robot Manipulator

The oil-tea camellia,as a kind of natural green plants,is widely used in our life,and its industry developed rapidly in the recent years by the support of the central and local government.But because of the limited mechanization level,the efficiency of manual picking is low at present,which seriously restrict the development of oil-tea camellia industry.So the oil-tea camellia fruit picking robot has been born at the historic moment under this condition.Robot trajectory planning is established on the basis of kinematics and dynamics of mechanical arm,which have an important influence on the efficient and stable operation.To improve the stability and reliability of the robot,we can reduce its shock and vibration by reasonable trajectory planning of robot,which can also get a good effect on the work efficiency.In the trajectory planning,not only to ensure the continuous displacement,velocity,acceleration,but also can guarantee the continuous second acceleration.In this thesis,the oil-tea camellia fruit picking robot kinematics equation was established and the cubic polynomial method,five times polynomial trajectory planning method and the 4-3-4 polynomial trajectory planning method were used in the trajectory planning.To reduce system vibration and impact,the best running smoothness as the goal,under the condition of what the maximum velocity is appropriate,the minimum acceleration as the optimal conditions,the simulation experiment contrast found that five times polynomial trajectory planning method is the best in these methods.This paper is used of Matlab for trajectory planning the oil-tea fruit picking robot kinematics analyses,and the kinematics simulation in the Pro/E,written in VC + + 6.0 software for robot control software,and combining the camellia fruit picking robot prototype verified the trajectory planning is feasible and effective.