Author(s)

Guangyu Du ¹, Su Xu ¹, Chuande Xu ¹, Wenxuan Cui ²

Affiliation(s)

¹ School of Electronic Engineering, Jiangsu Ocean University, Lianyungang, Jiangsu, 222000, China
² School of Mechanical Engineering, Jiangsu Ocean University, Lianyungang, Jiangsu, 222000, China

Corresponding Author

Su Xu

ABSTRACT

A trajectory planning method for a robotic arm in orchard picking is proposed, utilizing the COA optimization algorithm. The study focuses on a six-joint tandem robotic arm, establishing its mathematical model. Smooth motion trajectories are planned in joint space using the fifth-degree polynomial interpolation method, with constraints on angular displacements, velocities, and accelerations. The COA algorithm is analyzed and optimized, implemented through MATLAB for robotic arm trajectory planning. Experimental results indicate that trajectory planning with the COA algorithm yields a shorter search time for optimal paths compared to traditional methods, and it is more adept at avoiding local optima issues, thus enhancing efficiency in orchard picking with robotic arms. 

KEYWORDS

COA optimization algorithm, Trajectory planning, Fifth degree polynomial interpolation, MATLAB

CITE THIS PAPER

Guangyu Du, Su Xu, Chuande Xu, Wenxuan Cui, Robotic arm trajectory planning based on COA optimization algorithm. Automation and Machine Learning (2024) Vol. 5: 69-79. DOI: http://dx.doi.org/10.23977/autml.2024.050109.

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