Modelling and Simulation of a Redundant Agricultural Manipulator with Virtual Prototyping

The development of autonomous robots for agricultural applications includes motion planning, fruit picking, and collision avoidance with surrounding environments, these become challenging tasks. For harvesting applications, robust control the manipulator is needed effective robot. Several combinations Proportional(P)- Integrative(I)- Derivative(D) controllers are modelled a simulation study was performed trajectory tracking redundant in virtual environments. article presents comprehensive on kinematic modelling dynamic fruit-picking collisions environment were eliminated using ‘bounding box technique’. joint variables obtained by constructing Inverse Kinematics (IK) problem determined classical optimization technique. Different ‘Simulink’ tuned to generate error-free during harvesting. task space locations (TSLs) considered as via-points, at each TSLs Sequential Quadratic Programming (SQP) Joint-level trajectories generated Quintic B-spline polynomials. tracking, torque variations controlled PID Feedforward (FF) controller. simulations robot Simscape Multibody software. Results show that manipulator, Feed-forward controller performs best polynomial trajectory.