Kinematic Analysis and Trajectory Optimization of UR5 Apple Picking Robot Arm
With the continuous expansion of apple planting area,traditional manual picking methods can no longer meet production needs.Therefore,it is necessary to actively promote the research and application of apple picking robots.Due to the traditional point-to-point motion control,the motion of the robotic arm is unstable,seriously affecting the harvesting efficiency.Therefore,taking the UR5 robotic arm as the research object,a standard D-H parameter method is proposed to solve the forward and inverse kinematics problems of the UR5 robotic arm.The maximum joint velocity is used as a constraint,and the trajectory of each joint of the robotic arm is optimized using a fifth degree polynomial to make the trajectory of each joint smooth and achieve stable motion of the robotic arm.
NETL
NSTL
万方数据
