Design and Implementation of Control System for Four-Axis Picking Manipulator

Manual fruit picking has the disadvantages of high labor intensity, low efficiency and high cost. In order to solve these problems, a fruit picking robot based on machine vision was designed. By using the steering gear as the actuator of each axis rotation and the Arduino as the control module to realize the motion control of four axis manipulator. Through binocular vision positioning, the spatial point coordinate data of fruits were obtained. Combine the data with the motion control algorithm of four axis manipulator, we can get the angle that each axis needs to rotate. The system transmits data through Bluetooth module, and then controls the rotation of the mechanical arm to realize the fruit picking. In experiments, accuracy is compensated by software programming, and the smooth rotation of the manipulator has been solved.