Optimal Design of the Process for Picking Small Agricultural Products Using a Robotic Arm
Abstract：With the continuous development of automation technology, robotic arms are increasingly applied in the field of agriculture, especially in the picking and processing of small crops. To improve the efficiency and accuracy of robotic arms in picking small agricultural products, this study investigates the kinematic modeling and path optimization of a six-axis robotic arm during the process of picking small crops, aiming to enhance the stability and operational efficiency of the picking process. First, the kinematic model of the robotic arm is established using the D-H method, and the relative position coordinates between the robotic arm and the crops are analyzed. Then, for the problem of picking multiple types of crops, the A* algorithm is used for path planning, and the TSP algorithm is employed to determine the optimal visiting order, thereby minimizing the total path length. Finally, considering both the end-effector error and total energy consumption, simulations are conducted using MATLAB to obtain the overall path for the robotic arm's crop picking. The optimized path effectively improves the picking accuracy and work efficiency of the robotic arm, while avoiding abrupt changes in speed and acceleration, ensuring smooth operation of the robotic arm.
Keywords：Six-axis robotic armPicking of small agricultural productsPath optimizationEnergy consumption minimizationEnd-effector error
Publication Date：2025-07-25
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 49-52 )