2023
DOI: 10.21595/jve.2023.23110
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Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Abstract: Tree Planting Machine (TPM) is subject to a Tree-Planting Robot (TPR) with desired tracking trajectory planning. In this topic, taking the TPR proposed as the analysis object, the positive and inverse solutions of the kinematics are analyzed to explore the optimal trajectory planning. An improved position/posture algorithm, based on the analytical solution of the inverse kinematics of the TPR, is proposed. The trajectory planning strategy for TPR in Cartesian coordinate system and Joint coordinate system is di… Show more

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