Kinematic Analysis and Control Study of a 3-DOF Harvesting Robot

Abstract

In this paper, a three-degree-of-freedom harvesting robot is proposed and its feasibility for harvesting fruit from shorter plants is verified, although agricultural robots are widely used in various agricultural production activities, there is a lack of adequate analysis in this field. The kinematic analysis is carried out and the kinematic parameters and trajectory equations of the manipulator are determined. A control method of the manipulator’s arm based on fuzzy neural network control is proposed, and its feasibility is verified by Matlab through working range analysis and error test. Our goal is to improve the efficiency, convenience, and cost-effectiveness of harvesting dwarf crops by studying this small harvesting robot.