The Algorithm Study Of Avoidance Obstacle And Kinematics Simulation For Tomato Harvesting Manipulator

Fruit and vegetables are absolutely necessarily food in our lives, the planted area and output of them is boosting year by year. Research and development about robot for picking fruit and vegetables that adapt to growth practical at present, not only can alleviate intensity of labour and advance productivity effect, also have expansive applied prospect. In abroad, the research in this field has been done for many years and has got a certain achievement. But in our country, the development of research about it is slow; there is a long way to apply the robot to practice. This paper has carried out a system of path planning aim to avoid obstacle for tomato-pick manipulator, according to characteristic of manipulator of motoman sv3x and variety and attribute of barrier in workspace.Based on the goals above-mentioned, the paper mainly has been accomplished work as followed: kinematics of manipulator is the foundation of path planning studies aiming to avoid obstacle, kinematics model of motoman sv3x manipualtor was build and kinematics was simulated also, then obstacles in workspace were assorted and abstract, Configuration space (C-space) as planning space was ascertain. By dint of computing the critical angle of collision between joint of manipulator and obstacle, A sort of method which computing the critical angle of collision of a sort of obstacle can transform into computing the critical angle of one point or two point and three point is present. After C-space was build, complicated space environment information was converted into two dimensional grid information. In the C-space we use A~* algorithm which is an important search algorithm carrying out path planning system based on model of local workspace aim to avoid obstacle for tomato-pick manipulator. Computer simulation experiment and object experiment show that the end-effect and link of manipulator can avoid obstacle freely when the end-effect of manipulator running form initial position to target position.Our research assume that recognition and location of the fruit and the obstacle are known, and robotics and artificial intelligence have application in agriculture, goals of the study is improved the success ratio of automated harvesting tomato and lay the base on implementing path planning system by hardware.