Double-Arm Cooperation and Implementing for Harvesting Kiwifruit

Double-arm picking robots are widely used in agricultural production for their high collaborative efficiency. While picking, area planning and collision detection between the mechanical arms is a crucial challenge double-arm robot, which needs to establish collision-free path fruit picking. In this study, we developed cooperation method robotic of kiwifruit. Firstly, problem dividing was simplified into multiple traveling salesmen (MTSP) be solved. The sequence each arm formulated by principle similar numbers, combined with brainstorming optimization algorithm (BSO). Secondly, parameter model built solve forward backward movements figure out joint position. spatial mathematical relationship bounding boxes detect two arms, order achieve avoidance joints. Then, simulation software applied analyzed availability detection. results showed that optimized using BSO more efficient; smooth trajectory during movement met limits on range angular velocity Finally, based result, collaboration platform tested. harvesting trials average success rate 86.67%, time 3.95 ± 0.83 s per fruit. These indicated proposed could plan operation tasks robot system, effectively implement operation.