Analysis and simulation of the workspace of a tomato harvesting manipulator
Forward kinematics equation of a tomato harvesting manipulator with degree of freedom equal to 7 based on the Denavit-Hartenberg coordinate was set up through homogeneous transformation. At the same time, workspace of the manipulator was simulated by Monte Carlo method. It was indicated that the wor...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Zhejiang University Press
2005-11-01
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| Series: | 浙江大学学报. 农业与生命科学版 |
| Subjects: | |
| Online Access: | https://www.academax.com/doi/10.3785/1008-9209.2005.06.0807 |
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| Summary: | Forward kinematics equation of a tomato harvesting manipulator with degree of freedom equal to 7 based on the Denavit-Hartenberg coordinate was set up through homogeneous transformation. At the same time, workspace of the manipulator was simulated by Monte Carlo method. It was indicated that the working points in the workspace of the tomato harvesting manipulator were distributed compactly and uniformly, which can satisfy tomato harvesting requirements with high efficiency. In addition, Monte Carlo method can straightforwardly and visually describe manipulator workspace with high speed. |
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| ISSN: | 1008-9209 2097-5155 |