Design and Kinematic Modeling of Grape Picking Robot Arm

摘要

Aiming at the application of robots in intelligent agriculture, this paper proposes a method of picking grapes by robots based on deep learning, uses depth camera for visual positioning of grapes, and designs a picking end-effector for picking tests. Picking experiments show that the method proposed in this paper has high detection accuracy, accurate grape rod positioning, high robot picking accuracy and good availability.