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Solving Motion Law by Numerical Simulation on Bowl Seeding Transplanting Robot

Abstract : The paper using the inverse kinematics theory of the parallel mechanism, studied the movable needs of the transplanting robot,deduced the inverse kinematics formula of transplanting robot. Considered the demand of the “fetch and plant” operations, made an important research on the two trajectory planning methods of the moving platform: quintic and septic polynomial motion laws, acquired their variation rules of displacement, velocity, acceleration and saltus by using matlab software, and to make choice. After selected the law of motion equation, through numerical simulation of inverse kinematics by matlab, acquired kinematic parameters angular speed and acceleration of the two active motors, can be used as the priority basis for control the movement of the manipulator.
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Chunhui Qi, Jianping Hu, Jun Ma, Jianbing Zhang. Solving Motion Law by Numerical Simulation on Bowl Seeding Transplanting Robot. 5th Computer and Computing Technologies in Agriculture (CCTA), Oct 2011, Beijing, China. pp.103-111, ⟨10.1007/978-3-642-27275-2_11⟩. ⟨hal-01361124⟩



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