An Improved Multi-objective Trajectory Planning Algorithm for Kiwifruit Harvesting Manipulator

Trajectory planning is always a hot issue for harvesting manipulator in practice considering that the limitations of mechanical structure and other nonlinear factors lead to long harvest time, big jerk high energy consumption. The cubic spline algorithm, fifth-order polynomial interpolation fusing algorithm are used shorten reduce enhance robustness manipulator, respectively. Then trajectory problem converted into multi-objective optimization solution problem. A non-dominated sorting genetic algorithm-the third version (NSGA-III) technology address constrained problems with consumption objectives. Pareto optimal set containing multiple constraints obtained through NSGA-III algorithm. Comparing second (NSGA-II) technique, shorter time chosen from sent controller actuator. Under robot operating system (ROS), structural coefficient respectively NSGA-II simulated. simulation results show has better result addressing experimental analysis verifies proposed scheme method based on effective feasible improve efficiency kiwifruit harvesting.