Analysis of Workspace and Kinematics for a Tomato Harvesting Robot

摘要

Firstly, a tomato harvesting robot in greenhouse is introduced, the workspace of which is visually verified that it covers the tomatoes distribution space of one plant and hasn’t cavity by the pose diagrams of end-effector, and the designed robot has high flexibility. Subsequently the forward and inverse kinematics of harvesting robot is analyzed, so the range of joint variables and the inverse solution are obtained, and the catastrophe problem of robot joint value is solved with the arithmetic application of numerical value comparison. Finally the kinematics of harvesting robot was simulated by using the Robotics Toolbox in Matlab on the workspace, and results indicate the parameters of the designed end-effector are rational, and this end-effector can work well with manipulator. So the harvesting robot can meet the working requirement in greenhouse.