What question did this study set out to answer?

The aim is to develop an efficient trajectory planning method for citrus picking robots, focusing on optimizing multiple performance metrics.

March 25, 2026Discover Applied SciencesOpen Access

A multi-objective integrated optimal online trajectory planning method for citrus picking robots

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Authors

YZYuemeng ZhangCentral South University of Forestry and Technology WLWusheng LuoCentral South University of Forestry and Technology SYShengfei YuCentral South University of Forestry and Technology

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Implication

This research demonstrates an optimized trajectory planning method in robotic arms for citrus picking, suggesting enhanced efficiency and performance.

Key Points

The aim is to develop an efficient trajectory planning method for citrus picking robots, focusing on optimizing multiple performance metrics.
Establish kinematics and path planning model for the robotic arm.
Use seven polynomials to construct joint motion trajectory.
Develop a multi-objective optimization model using nonlinear planning based on kinematic constraints.
Define target function using weighting coefficients to optimize working time, energy consumption, and acceleration.
Simulate and test the optimization algorithm with a citrus picking task.
Average calculation time of the algorithm is 61 ms.
Comprehensive optimal trajectory achieved in 15.78 s with an energy consumption index of 188.86 °/s².
Acceleration index recorded at 405.08 °/s³, meeting all kinematic constraints.
Average picking time for a single fruit is 16.4 s, demonstrating effectiveness of the method.

Cite This Study

Zhang et al. (2026) studied this question.

synapsesocial.com/papers/69c37aa8b34aaaeb1a67c8de https://doi.org/10.1007/s42452-026-08577-2

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Implication

This research demonstrates an optimized trajectory planning method in robotic arms for citrus picking, suggesting enhanced efficiency and performance.

A multi-objective integrated optimal online trajectory planning method for citrus picking robots

Discussion

Member takes

Implication

Key Points

Cite This Study

A multi-objective integrated optimal online trajectory planning method for citrus picking robots

Discussion

Member takes

Implication

Key Points

Cite This Study

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