Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field

Figure 1

Harvesting robot shape and its joints coordinate systems. Note that is the base coordinate of harvesting robot, is the local coordinate system of the th() linkages, is the coordinate system of end effector, is twist angle, is length of linkages, is joint angle, and is offset of linkages.

(a) Harvesting robot shape

(b) Origin coordinate and joints coordinate systems of harvesting robot