Research progress and development trend of #br#
motion planning of fruit picking robot arm#br#

doi:10.12398/j.issn.2096-7217.2021.02.002

Abstract

Abstract: Aiming to solve the existing problems of fruit picking, proper movement planning of fruit picking mechanical arm is carried out to improve the efficiency of fruit picking, liberate manpower, and reduce the harvest cost. This paper analyzes the research status of fruitpicking robots at home and abroad and compares the key algorithms of the picking process of the robot arm. Finally, aiming to solve the poor smoothness and low efficiency of the trajectory planning of the robot arm, the algorithm using the Bspline curve and biological intelligence is proposed. In order to solve the problems of low search efficiency and local minimum, the improved algorithm based on graph search, the improved artificial potential field method, and the deep reinforcement learning algorithm are proposed, and the new motion planning algorithm, manipulator hardware, lowlevel control, and multimanipulator cooperative control are prospected.

Key words: fruit picking, intelligent, unstructured environment, robot arm, motion planning

摘要： 针对水果采摘的现存问题，对水果采摘机械臂进行合理的运动规划，以达到解放人力、提高采摘效率、降低采收成本的目的。分析水果采摘机器人的国内外研究进展，并就其机械臂采摘过程的关键算法进行比较，最后针对机械臂轨迹规划平滑性差、效率低提出采用B样条曲线和生物智能的算法；针对搜索效率低和局部最小值的问题提出采用基于图搜索的改进算法、改进人工势场法和深度强化学习算法等对策，并在新的运动规划算法、机械臂硬件以及底层控制和多机械臂协作控制等方面进行展望。

关键词: 水果采摘, 智能化, 非结构性环境, 机械臂, 运动规划

CLC Number:

S225.93

Jieli Duan, , Zhaorui Wang, Lei Ye, Zhou Yang, , . Research progress and development trend of #br# motion planning of fruit picking robot arm#br#[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(2): 7-17.

段洁利, 王昭锐, 叶磊, 杨洲, . 水果采摘机械臂运动规划研究进展与发展趋势水果采摘机械臂运动规划研究进展与发展趋势[J]. 智能化农业装备学报（中英文）, 2021, 2(2): 7-17.

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Research progress and development trend of #br# motion planning of fruit picking robot arm#br#

水果采摘机械臂运动规划研究进展与发展趋势水果采摘机械臂运动规划研究进展与发展趋势

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